A Robust Vision System for a UAV Transporting Cargoes between Moving Platforms

摘要：

　　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.

关键词： Vision-based navigation Unmanned aerial vehicle Ellipse detection Circle-based pose estimation OpenCV

作者: Shiyu Zhao Tong H. Lee Zhangyuan Hu Mingfeng Yin Kevin Z. Y. Ang Peidong Liu Fei Wang Xiangxu Dong Feng Lin Ben M. Chen

作者单位: 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

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 544-549

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）