Memorias de investigación
Research Publications in journals:
A vision-based strategy for autonomous aerial refueling tasks
Year:2013

Research Areas
  • Computer vision

Information
Abstract
Autonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing 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 refueling, 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 flight 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 robust 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
Volume
61
10.1016/j.robot.2013.02.006
Journal number
8
From page
876
To page
895
Month
SIN MES
Ranking
0
Participants
  • Autor: Carol Viviana Martinez Luna UPM
  • Autor: thomas richardson
  • Autor: peter thomas
  • Autor: jonathan luke du bois
  • Autor: Pascual Campoy Cervera UPM

Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial