Memorias de investigación
Ponencias en congresos:
3D Object following based on visual information for Unmanned Aerial Vehicles
Año:2011
Áreas de investigación
  • Robots aéreos
Datos
Descripción
This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems agains winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation
Internacional
Si
Nombre congreso
The Latin American Robotics Competition (LARC), The Latin American Robotics Symposium (LARS), The Colombian Conference on Automatic Control (CCAC)
Tipo de participación
960
Lugar del congreso
Bogotá
Revisores
Si
ISBN o ISSN
978-1-4577-1690-4
DOI
Fecha inicio congreso
01/10/2011
Fecha fin congreso
04/10/2011
Desde la página
1
Hasta la página
7
Título de las actas
3D Object following based on visual information for Unmanned Aerial Vehicles
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Ivan Fernando Mondragon Bernal UPM
  • Autor: Pascual Campoy Cervera UPM
  • Autor: Miguel Ángel Olivares Mendez UPM
  • Autor: Carol Viviana Martinez Luna 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