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This paper presents a novel strategy addressing visual SLAM with enhancement of data association method. Hyper graph theory and transformation was incorporated within cooperative visual SLAM. The research presented a synthetic approach to fulfill a cooperative data association and fusion strategy for multiple UAVs equipped with stereo vision cameras encountered with indistinct imaging, where conventional...
In this paper we present an end to end object modeling pipeline for an unmanned aerial vehicle (UAV). We contribute a UAV system which is able to autonomously plan a path, navigate, acquire views of an object in the environment from which a model is built. The UAV does collision checking of the path and navigates only to those areas deemed safe. The data acquired is sent to a registration system which...
In this paper, a fully-autonomous quadrotor aerial robot for solving the different missions proposed in the 2016 International Micro Air Vehicle (IMAV) Indoor Competition is presented. The missions proposed in the IMAV 2016 competition involve the execution of high-level missions such as entering and exiting a building, exploring an unknown indoor environment, recognizing and interacting with objects,...
We present in this paper a novel warehouse inventory scheme. The main purpose of this work is to make the inventory process completely autonomous. To this end, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV) work cooperatively. The UGV is used as the carrying platform, and considered as a ground reference for the indoor flight of the UAV. While the UAV is used as the mobile scanner...
This paper makes research on two schemes of autonomous vision-based absolute navigation for Unmanned Aerial Vehicle (UAV): the Imaging Position of Landmark/Altimeter/IMU (IPLAI) based navigation, and the Imaging Position of Landmark/Optical Flow/Altimeter/IMU (IPLOFAI) based navigation. Firstly, the models of two autonomous vision-based absolute navigation systems are established. Secondly, the observability...
This paper presents automated navigation control of an Unmanned Aerial Vehicle (UAV) for inspection of oil and gas pipelines. The pipelines carrying inflammable and toxic petroleum products require continuous inspection. An UAV equipped with non-contact sensors can be used for external inspection of the pipeline. Most of the UAVs used for surveillance purpose fly at very high altitude and same mechanism...
Power line inspection is an essential but costly task while automated UAV (unmanned aerial vehicle) inspection can greatly reduce such costs. However, navigating along power lines is a challenging task due to the narrow width and limited features of power lines. Existing power line tracking methods have threshold selection problems and cannot work well for complex and changing backgrounds. We make...
Swarms of unmanned autonomous vehicles adopt effective algorithms to control their localization and formation. These strategies grant safe and collision-free navigation, control the positioning of drones, and automatize their motion according to the final task. This paper investigates how formations affect the reconstruction accuracy of a swarm of drones patrolling a 3D environment. Considering that...
Fully autonomous navigation of unmanned vehicles, without relying on pre-installed tags or markers, still remains a challenge especially for GPS-denied areas and complex indoor environments. Robust altitude control and safe landing zone detection are two important tasks for indoor unmanned aerial vehicle (UAV) applications. In this paper, a novel approach is proposed for indoor UAVs to control their...
Migration birds are able to navigate themselves during a long-distance journey without getting lost. They actually achieve just what is being sought for in the field of Unmanned Aerial Vehicles (UAVs): long-term autonomous navigation. This paper proposes an approach that combines the migration birds' sense principles with Micro-Electro-Mechanical System (MEMS) sensors to estimate UAVs position within...
This paper provides a complete solution for landing a quadrotor Unmanned Aerial Vehicle (UAV) on an Unmanned Ground Vehicle (UGV) in the outdoor environment. An image-based visual servo control law and a GPS-based navigation method are proposed, and the former method acquires the visual feedback from the camera attached to the quadrotor, while the latter strategy is used when the visual feedback is...
In this study, a system has been developed to demonstrate the docking operation of a palm-sized quadcopter to a docking tower. By installing the IR LED makers on the quadcopter with certain geometry, the guidance of a quadcopter is realized by using Wii Remote based IR camera to provide position tracking of the quadcopter. The orientation can be abstracted from the orientation of the predefined geometry...
The objective of this project is to set up wireless communication for Unmanned Aerial Vehicles (UAVs) and to estimate the position of the UAV using vision-based techniques with an onboard camera, in a real-time, continuously interacting scenario. Here, vision based navigation is explored with different algorithms (RANSAC feature detection and normalized cross correlation with prior edge detection)...
The paper considers application of phase correlation method for solving 3D navigation problem. It is used for development of effective autonomous single-camera visual navigation systems for unmanned aerial vehicles.
This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected...
During unmanned aerial vehicle (UAV) search missions, efficient use of UAV flight time requires flight paths that maximize the probability of finding the desired subject. The probability of detecting the desired subject based on UAV sensor information can vary in different search areas due to environment elements like varying vegetation density or lighting conditions, making it likely that the UAV...
Augmented reality UAV multi-source information is obtained by overlaying a variety of other sensors and the database data in the airborne video of CCD sensor. More substantial and credible information display can then be obtained. Our research includes the establishment of binocular stereo camera, improved feature matching algorithm with high matching speed and robustness, pose measurement methods...
Extraction and utilization of the horizon contour is presented within the context of an optical collision avoidance instrument, comprised of individual nodes configured in a fixed-topology distributed network. The algorithm iterates between learning and application stages. Pixel neighbourhoods were classified into ground and sky regions using a vector of feature descriptors. The clusters in feature...
To optimize UAV reconnaissance operations, direction of viewing and direction of travel must be allowed to diverge. Our challenge was to design a control and display strategy to allow the operator to easily look where they're going, go where they're looking, and look and go in different directions. Two methods of control were devised to align traveling forward, viewing forward and commanding forward...
This research was motivated by a need for accurate UAV navigation using camera(s) to augment inertial navigation unit data while flying over, or through an urban environment. The process of position determination using cameras follows a sequence of well defined steps. First features must be found in consecutive-in-time images and then matched across time. The underlying camera motion, as defined by...
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