Computer Vision Onboard UAVs for Civilian Tasks

Campoy Cervera, Pascual and Correa Caicedo, Juan Fernando and Mondragon Bernal, Ivan Fernando and Martínez Luna, Carol Viviana and Olivares Méndez, Miguel Ángel and Mejias Alvarez, Luis and 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.


Title: 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
Item Type: Article
Título de Revista/Publicación: Journal of Intelligent and Robotic Systems
Date: March 2008
Volume: 54
Freetext Keywords: UAV, visual servoing, image processing, feature detection, tracking,SLAM
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
UPM's Research Group: LPF-TAGRALIA
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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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.

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Item ID: 2351
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Deposited by: Memoria Investigacion
Deposited on: 17 May 2010 08:36
Last Modified: 20 Apr 2016 12:04
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