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Memorias de investigación
Artículos en revistas:
A vision-based strategy for autonomous aerial refueling tasks
Año:2013
Áreas de investigación
  • Visión por computador
Datos
Descripción
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.
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
Volumen
61
DOI
10.1016/j.robot.2013.02.006
Número de revista
8
Desde la página
876
Hasta la página
895
Mes
SIN MES
Ranking
0
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Carol Viviana Martinez Luna (UPM)
  • Autor: thomas richardson
  • Autor: peter thomas
  • Autor: jonathan luke du bois
  • Autor: Pascual Campoy Cervera (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • 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
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