Helipad detection for accurate UAV pose estimation by means of a visual sensor. (15th September 2017)
- Record Type:
- Journal Article
- Title:
- Helipad detection for accurate UAV pose estimation by means of a visual sensor. (15th September 2017)
- Main Title:
- Helipad detection for accurate UAV pose estimation by means of a visual sensor
- Authors:
- Patruno, Cosimo
Nitti, Massimiliano
Stella, Ettore
D'Orazio, Tiziana - Abstract:
- In this article, we tackle the problem of developing a visual framework to allow the autonomous landing of an unmanned aerial vehicle onto a platform using a single camera. Specifically, we propose a vision-based helipad detection algorithm in order to estimate the attitude of a drone on which the camera is fastened with respect to target. Since the algorithm should be simple and quick, we implemented a method based on curvatures in order to detect the heliport marks, that is, the corners of character H. By knowing the size of H mark and the actual location of its corners, we are able to compute the homography matrix containing the relative pose information. The effectiveness of our methodology has been proven through controlled indoor and outdoor experiments. The outcomes have shown that the method provides high accuracies in estimating the distance and the orientation of camera with respect to visual target. Specifically, small errors lower than 1% and 4% have been achieved in the computing of measurements, respectively.
- Is Part Of:
- International journal of advanced robotic systems. Volume 14:Number 5(2017:Sep./Oct.)
- Journal:
- International journal of advanced robotic systems
- Issue:
- Volume 14:Number 5(2017:Sep./Oct.)
- Issue Display:
- Volume 14, Issue 5 (2017)
- Year:
- 2017
- Volume:
- 14
- Issue:
- 5
- Issue Sort Value:
- 2017-0014-0005-0000
- Page Start:
- Page End:
- Publication Date:
- 2017-09-15
- Subjects:
- Visual landing -- helipad detection -- UAV pose estimation -- computer vision
Robotics -- Periodicals
Robotics
Periodicals
629.892 - Journal URLs:
- http://arx.sagepub.com/ ↗
http://search.epnet.com/direct.asp?db=bch&jid=13CR&scope=site ↗
http://www.intechweb.org/journal.php?id=3 ↗
http://www.uk.sagepub.com/home.nav ↗ - DOI:
- 10.1177/1729881417731083 ↗
- Languages:
- English
- ISSNs:
- 1729-8806
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 8189.xml