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Descripción
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| 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. | |
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Internacional
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JCR del ISI
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Título de la revista
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Robotics And Autonomous Systems |
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ISSN
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0921-8890 |
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Factor de impacto JCR
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1,056 |
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Información de impacto
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Datos JCR del año 2011 |
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Volumen
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DOI
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Número de revista
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