Computer Vision Onboard UAVs for Civilian Tasks

Campoy Cervera, Pascual; Correa Caicedo, Juan Fernando; Mondragon Bernal, Ivan Fernando; Martínez Luna, Carol Viviana; Olivares Méndez, Miguel Ángel; Mejias Alvarez, Luis y Artieda Trigueros, Jorge (2008). Computer Vision Onboard UAVs for Civilian Tasks. "Journal of Intelligent and Robotic Systems", v. 54 (n. 1-3); pp. 105-135. ISSN 0921-0296.


Título: Computer Vision Onboard UAVs for Civilian Tasks
  • Campoy Cervera, Pascual
  • Correa Caicedo, Juan Fernando
  • Mondragon Bernal, Ivan Fernando
  • Martínez Luna, Carol Viviana
  • Olivares Méndez, Miguel Ángel
  • Mejias Alvarez, Luis
  • Artieda Trigueros, Jorge
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Fecha: Marzo 2008
Volumen: 54
Palabras Clave Informales: UAV, visual servoing, image processing, feature detection, tracking,SLAM
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (2MB) | Vista Previa


Computer visión is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because oí the big amount oí information that can be extracted, its possible uses and applications, and its natural connection to human driven tasks, taking into account that visión is our main interface to world understanding. Our current research's focus lays on the development of techniques that allow UAVs to maneuver in spaces using visual information as their main input source. This task involves the creation of techniques that allow an UAV to maneuver towards features of interest whenever a GPS signal is not reliable or sufficient, e.g. when signal dropouts occur (which usually happens in urban áreas, when flying through terrestrial urban canyons or when operating on remote planetary bodies), or when tracking or inspecting visual targets—including moving ones—without knowing their exact UMT coordinates. This paper also investigates visual servoing control techniques that use velocity and position of suitable image features to compute the references for flight control. This paper aims to give a global view of the main aspects related to the research field of computer visión for UAVs, clustered in four main active research lines: visual servoing and control, stereo-based visual navigation, image processing algorithms for detection and tracking, and visual SLAM. Finally, the results of applying these techniques in several applications are presented and discussed: this study will encompass power line inspection, mobile target tracking, stereo distance estimation, mapping and positioning.

Más información

ID de Registro: 2351
Identificador DC:
Identificador OAI:
Identificador DOI: 10.1007/s10846-008-9256-z
URL Oficial:
Depositado por: Memoria Investigacion
Depositado el: 17 May 2010 08:36
Ultima Modificación: 03 Nov 2016 07:35
  • GEO_UP4
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • InvestigaM
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM