A Robust Vision System for a UAV Transporting Cargoes between Moving Platforms
Motivated by the 2013 International UAV Innovation Grand Prix (UAVGP),we design and implement a real-time vision system for an unmanned helicopter to transfer cargoes between two moving platforms fully autonomously.The key algorithms in the vision system include ellipse detection,ellipse tracking and single-circle-based pose estimation.Comprehensive experiments have verified the efficiency,accuracy and robustness of the algorithms.The developed vision system has helped us achieving a great success in UAVGP.Our team was ranked first in the final round competition.
Vision-based navigation Unmanned aerial vehicle Ellipse detection Circle-based pose estimation OpenCV
Shiyu Zhao Tong H. Lee Zhangyuan Hu Mingfeng Yin Kevin Z. Y. Ang Peidong Liu Fei Wang Xiangxu Dong Feng Lin Ben M. Chen
Department of Electrical & Computer Engineering,National University of Singapore Department of Information Engineering,The Chinese University of Hong Kong School of Automation,Nanjing University of Science and Technology Temasek Laboratories,National University of Singapore
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
544-549
2014-07-28(万方平台首次上网日期,不代表论文的发表时间)