Observatorio de I+D+i UPM

Memorias de investigación
Thesis:
Visual Tracking, Pose Estimation, and Control for Aerial Vehicles
Year:2013
Research Areas
  • Aerial robots,
  • Images pursuit,
  • Visual control,
  • Vision on real-time,
  • Computer vision,
  • Robots vision
Information
Abstract
The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving di erent problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The di erent computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the di erent explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.
International
Si
Type
Doctoral
Mark Rating
Sobresaliente cum laude
Date
15/07/2013
Participants
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Director: Pascual Campoy Cervera (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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