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Memorias de investigación
Artículos en revistas:
A Vision-Based Strategy for Autonomous Aerial Refuelling Tasks
Año:2013
Áreas de investigación
  • Robots aéreos
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Robotics And Autonomous Systems
ISSN
0921-8890
Factor de impacto JCR
1,056
Información de impacto
Datos JCR del año 2011
Volumen
DOI
Número de revista
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0
Hasta la página
0
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Participantes
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: Thomas Richardson (Bristol University)
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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