Memorias de investigación
Research Project:
VISION POR COMPUTADOR PARA UAV: NAVEGACION, COOPERACION, SEGUIMIENTO E INSPECCION
Year:2010

Research Areas
  • Intelligent vehicles,
  • Aerial robots

Information
Abstract
The main idea of the project is to introduce the Computer Vision on board of UAV in order to widely improve its performances in its different tasks and situations: navigation and maneuvering using visual information, tracking of static and dynamic targets while moving in changing environments, cooperation of several UAV to perform a common task by merging different visual information, and performing trajectory planning and identification for visual inspection. This project is the natural extension of previous Cicyt projects developed by the proponent Research Group, two of them regarding Vision on UAV and another one regarding multi-robot cooperation. Previous goals achieved in these projects include: power line tracking, distance and height estimation, 2D visual definable target tracking, control architecture with visual information in the loop, 2D visual control of UAV position, dynamic trajectory planning and cooperative modeling of environment applied to robot guidance. Based on these previous results the present project aims following challenging technical objectives: a) 3D tracking of planar and non-planar targets, presently being tackle by word top level institutions, and that present special difficulties in UAV due to vibrations, changing environments and scaling while moving, b) sensor fusion of visual and ¿classical¿ positioning sensors, where the difficulty lays on the unbalanced amount of data, that in the visual source case has to be previously reduced extracting the significant information, which we proposed to be done by learning techniques that extract the manifold in the image high dimensional space where the sequential images of the target lay, and c) vision based multi AUV cooperation, performed by at least two UAV that supply different visual information regarding view point and different visual equipment (e.g. resolution, focal length, thermography) that are to be considered for a common due task. The achievement of mentioned technical objectives are going to be implemented and used in the prototypes and demos proposed in the project, that include several special navigation tasks where vision can play an important roll, such as landing and take-off, horizontal tracking, terrain following and dynamic target tracking. Finally it is aimed that the obtained results can be successfully transfer to the industry, which already participate as EPOs in this project. One company is a high technology company focused on UAV that is very interested in our results in Computer Vision. The other two EPOs are important and big companies whose R&D departments are very much interested in applications of UAV guided by vision for their special applications.
International
No
Project type
Proyectos y convenios en convocatorias públicas competitivas
Company
MICYT
Entity Nationality
ESPAÑA
Entity size
Desconocido
Granting date
01/12/2007
Participants
  • Director: Pascual Campoy Cervera UPM
  • Participante: Ivan Fernando Mondragon Bernal UPM
  • Participante: Sergio Dominguez Cabrerizo UPM
  • Participante: Miguel Ángel Olivares Mendez UPM
  • Participante: Carol Viviana Martinez Luna UPM
  • Participante: Oscar Chang Tortolero UPM
  • Codirector: Ignacio Mellado Bataller UPM
  • Codirector: Juan Carlos Garcia Gordo UPM
  • Participante: Jose Luis Sanchez Lopez UPM
  • Participante: David Galindo Gallego UPM

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