Memorias de investigación
Communications at congresses:
Online Learning-based Robust Visual Tracking for Autonomous Landing of Unmanned Aerial Vehicles
Year:2014
Research Areas
  • Visual perception,
  • Aerial robots,
  • Autonomic robots,
  • Inspection robots,
  • Perception,
  • Visual control,
  • Visual inspection,
  • Vision on real-time
Information
Abstract
Autonomous landing is a challenging and important technology for both military and civilian applications of Unmanned Aerial Vehicles (UAVs). In this paper, we present a novel online adaptive visual tracking algorithm for UAVs to land on an arbitrary field (that can be used as the helipad) autonomously at real-time frame rates of more than twenty frames per second. The integration of low-dimensional subspace representation method, online incremental learning approach and hierarchical tracking strategy allows the autolanding task to overcome the problems generated by the challenging situations such as significant appearance change, variant surrounding illumination, partial helipad occlusion, rapid pose variation, onboard mechanical vibration (no video stabilization), low computational capacity and delayed information communication between UAV and Ground Control Station (GCS). The tracking performance of this presented algorithm is evaluated with aerial images from real autolanding flights using manually- labelled ground truth database. The evaluation results show that this new algorithm is highly robust to track the helipad and accurate enough for closing the vision-based control loop.
International
Si
Congress
International Conference on Unmanned Aircraft Systems (ICUAS)
960
Place
Orlando, FL
Reviewers
Si
ISBN/ISSN
978-1-4799-2376-2
10.1109/ICUAS.2014.6842309
Start Date
27/05/2014
End Date
30/05/2014
From page
649
To page
655
Online Learning-based Robust Visual Tracking for Autonomous Landing of Unmanned Aerial Vehicles
Participants
Research Group, Departaments and Institutes related
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial