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Memorias de investigación
Research Publications in journals:
A Vision-Based Strategy for Autonomous Aerial Refuelling Tasks
Year:2013
Research Areas
  • Aerial robots
Information
Abstract
Autonomous aerial refuelling is a key enabling technology for both manned and unmanned aircraft where extended ight duration or range are required. The results presented within this paper o er one potential vision-based sens- ing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refuelling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual ight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a ro- bust position estimation even with strong motions and multiple occlusions of the drogue.
International
Si
JCR
Si
Title
Robotics And Autonomous Systems
ISBN
0921-8890
Impact factor JCR
1,056
Impact info
Datos JCR del año 2011
Volume
Journal number
From page
0
To page
0
Month
MARZO
Ranking
Participants
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: Thomas Richardson (Bristol University)
  • Autor: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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