A visual servoing approach for tracking features in urban areas using an autonomous helicopter Conference Paper

abstract

• The use of Unmanned Aerial Vehicles (UAVs) in civilian and domestic applications is highly demanding, requiring a high-level of capability from the vehicles. This work addresses the design and implementation of a vision-based feature tracker for an autonomous helicopter. Using vision in the control loop allows estimating the position and velocity of a set of features with respect to the helicopter. The helicopter is then autonomously guided to track these features (in this case windows in an urban environment) in real time. The results obtained from flight trials in a real world scenario demonstrate that the algorithm for tracking features in an urban environment, used for visual servoing of an autonomous helicopter is reliable and robust. 2006 IEEE.

name of conference

• Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

authors

• Saripalli, Srikanth

published proceedings

• 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10

author list (cited authors)

• Mejias, L., Campoy, P., Saripalli, S., & Sukhatme, G. S.

citation count

• 38

complete list of authors

• Mejias, Luis||Campoy, Pascual||Saripalli, Srikanth||Sukhatme, Gaurav S

publication date

• January 2006

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• 40 Engineering
• 4001 Aerospace Engineering
• 4007 Control Engineering, Mechatronics And Robotics
• 46 Information And Computing Sciences
• 4602 Artificial Intelligence

Digital Object Identifier (DOI)

• 10.1109/ROBOT.2006.1642078

International Standard Book Number (ISBN) 10

• 0-7803-9505-0

International Standard Book Number (ISBN) 13

• 9780780395060

start page

• 2503

end page

• +

volume

• 2006

URL

• http://dx.doi.org/10.1109/robot.2006.1642078