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 Scopus citations

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 of the 2005 IEEE International Conference on Robotics and Automation
Pages3972-3977
Number of pages6
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

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

Keywords

  • Autonomous aerial vehicles
  • Feature tracking
  • Kalman filter

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    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 of the 2005 IEEE International Conference on Robotics and Automation (pp. 3972-3977). [1570728] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570728