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Visual servoing of an autonomous helicopter in urban areas using feature tracking
Author(s) -
Mejías Luis,
Saripalli Srikanth,
Campoy Pascual,
Sukhatme Gaurav S.
Publication year - 2006
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.20115
Subject(s) - visual servoing , robustness (evolution) , computer vision , artificial intelligence , global positioning system , computer science , feature (linguistics) , tracking (education) , tracking system , position (finance) , image plane , feature tracking , feature extraction , image (mathematics) , kalman filter , psychology , telecommunications , pedagogy , biochemistry , chemistry , linguistics , philosophy , finance , economics , gene
We present the design and implementation of a vision‐based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual‐based references are then combined with GPS‐positioning references to navigate towards these features and then track them. We present results from experimental flight trials, performed in two UAV systems and under different conditions, that show the feasibility and robustness of our approach. © 2006 Wiley Periodicals, Inc.