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Conference Paper: Vision guided landing of an unmanned air vehicle

TitleVision guided landing of an unmanned air vehicle
Authors
Issue Date1999
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188
Citation
Proceedings Of The Ieee Conference On Decision And Control, 1999, v. 4, p. 4143-4148 How to Cite?
AbstractIn this paper, we study the problem of using computer vision as a sensor to control the landing of an Unmanned Air Vehicle (UAV). The vision problem we address is a special case of the general ego-motion estimation problem due to the fact that all feature points lie on a plane. We propose a new geometric estimation scheme for solving the differential version of the planar ego-motion estimation problem. The algorithm is computationally inexpensive and amenable for real-time implementation. We present a performance evaluation of the algorithm under different levels of image measurement noise and camera motions relative to the landing pad. We also present a full dynamic model of a UAV, discuss a nonlinear controller based on differential flatness, and show through simulation that the vision guided UAV performs stable landing maneuvers even under large levels of image measurement noise.
Persistent Identifierhttp://hdl.handle.net/10722/188696
ISSN

 

DC FieldValueLanguage
dc.contributor.authorShakernia, Omiden_US
dc.contributor.authorMa, Yien_US
dc.contributor.authorKoo, TJohnen_US
dc.contributor.authorHespanha, Joaoen_US
dc.contributor.authorSastry, SShankaren_US
dc.date.accessioned2013-09-03T04:13:33Z-
dc.date.available2013-09-03T04:13:33Z-
dc.date.issued1999en_US
dc.identifier.citationProceedings Of The Ieee Conference On Decision And Control, 1999, v. 4, p. 4143-4148en_US
dc.identifier.issn0191-2216en_US
dc.identifier.urihttp://hdl.handle.net/10722/188696-
dc.description.abstractIn this paper, we study the problem of using computer vision as a sensor to control the landing of an Unmanned Air Vehicle (UAV). The vision problem we address is a special case of the general ego-motion estimation problem due to the fact that all feature points lie on a plane. We propose a new geometric estimation scheme for solving the differential version of the planar ego-motion estimation problem. The algorithm is computationally inexpensive and amenable for real-time implementation. We present a performance evaluation of the algorithm under different levels of image measurement noise and camera motions relative to the landing pad. We also present a full dynamic model of a UAV, discuss a nonlinear controller based on differential flatness, and show through simulation that the vision guided UAV performs stable landing maneuvers even under large levels of image measurement noise.en_US
dc.languageengen_US
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://www.ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000188en_US
dc.relation.ispartofProceedings of the IEEE Conference on Decision and Controlen_US
dc.titleVision guided landing of an unmanned air vehicleen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJohn: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJohn=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0033330922en_US
dc.identifier.volume4en_US
dc.identifier.spage4143en_US
dc.identifier.epage4148en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridShakernia, Omid=6603334255en_US
dc.identifier.scopusauthoridMa, Yi=35196583100en_US
dc.identifier.scopusauthoridKoo, TJohn=7005428590en_US
dc.identifier.scopusauthoridHespanha, Joao=7003325009en_US
dc.identifier.scopusauthoridSastry, SShankar=35560685800en_US

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