Detection and tracking of external features in an urban environment using an autonomous helicopter

Srikanth Saripalli, Gaurav S. Sukhatme, Luis O. Mejías, Pascual Campoy Cervera

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Citations (Scopus)

Abstract

We present the design and implementation of a real-time vision-based approach to detect and track features in a structured environment using an autonomous helicopter. Using vision as a sensor enables the helicopter to track features in an urban environment. We use vision for feature detection and a combination of vision and GPS for navigation and tracking. The vision algorithm sends high level velocity commands to the helicopter controller which is then able to command the helicopter to track them. We present results obtained from flight trials that demonstrate our algorithms for detection and tracking are applicable in real world scenarios by applying them to the task of tracking rectangular features in structured environments.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3972-3977
Number of pages6
Volume2005
DOIs
StatePublished - 2005
Externally publishedYes
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

Fingerprint

Helicopters
Global positioning system
Navigation
Controllers
Sensors

Keywords

  • Autonomous aerial vehicles
  • Feature tracking
  • Kalman filter

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Saripalli, S., Sukhatme, G. S., Mejías, L. O., & Cervera, P. C. (2005). Detection and tracking of external features in an urban environment using an autonomous helicopter. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2005, pp. 3972-3977). [1570728] https://doi.org/10.1109/ROBOT.2005.1570728

Detection and tracking of external features in an urban environment using an autonomous helicopter. / Saripalli, Srikanth; Sukhatme, Gaurav S.; Mejías, Luis O.; Cervera, Pascual Campoy.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. p. 3972-3977 1570728.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Saripalli, S, Sukhatme, GS, Mejías, LO & Cervera, PC 2005, Detection and tracking of external features in an urban environment using an autonomous helicopter. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2005, 1570728, pp. 3972-3977, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570728
Saripalli S, Sukhatme GS, Mejías LO, Cervera PC. Detection and tracking of external features in an urban environment using an autonomous helicopter. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005. 2005. p. 3972-3977. 1570728 https://doi.org/10.1109/ROBOT.2005.1570728
Saripalli, Srikanth ; Sukhatme, Gaurav S. ; Mejías, Luis O. ; Cervera, Pascual Campoy. / Detection and tracking of external features in an urban environment using an autonomous helicopter. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2005 2005. pp. 3972-3977
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