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

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. 2005 IEEE.

name of conference

• Proceedings of the 2005 IEEE International Conference on Robotics and Automation

authors

• Saripalli, Srikanth

published proceedings

• 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4

author list (cited authors)

• Saripalli, S., Sukhatme, G. S., Mejias, L. O., & Cervera, P. C.

citation count

• 22

complete list of authors

• Saripalli, S||Sukhatme, GS||Mejias, LO||Cervera, PC

publication date

• January 2005

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE International Conference on Robotics and Automation  Journal

keywords

• Autonomous Aerial Vehicles
• Feature Tracking
• Kalman Filter

Digital Object Identifier (DOI)

• 10.1109/robot.2005.1570728

International Standard Book Number (ISBN) 10

• 0-7803-8914-X

International Standard Book Number (ISBN) 13

• 9780780389144

start page

• 3972

end page

• 3977

volume

• 2005

URL

• http://dx.doi.org/10.1109/robot.2005.1570728