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Conference Paper: Vision based navigation for an unmanned aerial vehicle

TitleVision based navigation for an unmanned aerial vehicle
Authors
Issue Date2001
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2001, v. 2, p. 1757-1764 How to Cite?
AbstractWe are developinq a system for autonomous navigation of unmanned aerial vehicles (UAVs) based on computer vision. A UAV is equipped with an on-board cameras and each UAV is provided with noisy estimates of its own state, coming from GPS/INS. The mission of the UAV is low altitude navigation from an initial position to a final position in a partially known 3-D environment while avoiding obstacles and minimizing path length. We use a hierarchical approach to path planning. We distinguish between a global offline computation, based on a coarse known model of the environment and a local online computation, based on the information coming from the vision system. A UAV builds and updates a virtual 3-D model of the surrounding environment by processing image sequences and fusing them with sensor data. Based on such a model the UAV will plan a path from its current position to the terminal point. It will then follow such path, getting more data from the on-board cameras, and refining map and local path in real t ime.
Persistent Identifierhttp://hdl.handle.net/10722/188700
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorSinopoli, Ben_US
dc.contributor.authorMicheli, Men_US
dc.contributor.authorDonato, Gen_US
dc.contributor.authorKoo, TJen_US
dc.date.accessioned2013-09-03T04:13:34Z-
dc.date.available2013-09-03T04:13:34Z-
dc.date.issued2001en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2001, v. 2, p. 1757-1764en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/188700-
dc.description.abstractWe are developinq a system for autonomous navigation of unmanned aerial vehicles (UAVs) based on computer vision. A UAV is equipped with an on-board cameras and each UAV is provided with noisy estimates of its own state, coming from GPS/INS. The mission of the UAV is low altitude navigation from an initial position to a final position in a partially known 3-D environment while avoiding obstacles and minimizing path length. We use a hierarchical approach to path planning. We distinguish between a global offline computation, based on a coarse known model of the environment and a local online computation, based on the information coming from the vision system. A UAV builds and updates a virtual 3-D model of the surrounding environment by processing image sequences and fusing them with sensor data. Based on such a model the UAV will plan a path from its current position to the terminal point. It will then follow such path, getting more data from the on-board cameras, and refining map and local path in real t ime.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleVision based navigation for an unmanned aerial vehicleen_US
dc.typeConference_Paperen_US
dc.identifier.emailKoo, TJ: john.koo@siat.ac.cnen_US
dc.identifier.authorityKoo, TJ=rp01787en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0034868061en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0034868061&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume2en_US
dc.identifier.spage1757en_US
dc.identifier.epage1764en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridSinopoli, B=23570052500en_US
dc.identifier.scopusauthoridMicheli, M=8312921100en_US
dc.identifier.scopusauthoridDonato, G=36807947200en_US
dc.identifier.scopusauthoridKoo, TJ=7005428590en_US

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