Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic LandingReport as inadecuate




Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing - Download this document for free, or read online. Document in PDF available to download.

1 IST - Instituto Superior Técnico, Universidade Técnica de Lisboa 2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE

Abstract : A unified modeling framework is defined and an image-based visual servoing scheme is introduced to evaluate the feasibility of a vision-based guidance for a UAV model during survey missions and for automatic landing. Relevant image features are selected to allow for the proposed objective, namely decoupling rotation and translation in the image, and allowing to respect the natural separation between the lateral and ongitudinal motions of the aircraft. The controller design is adapted to include the aircraft dynamics and the vision output in an linear optimal control approach. Simulation results are presented in order to validate the proposed solution and allow for a critical evaluation.





Author: José Raul Azinheira - Patrick Rives -

Source: https://hal.archives-ouvertes.fr/



DOWNLOAD PDF




Related documents