Reference TypeConference Proceedings
Citation KeyMartinezHernRodr:2013:ViBaAl
Author1 Martinez, John Jairo
2 Hernandez, Jose Tiberio
3 Rodriguez, Carlos F.
Affiliation1 Department of Computer Science, Universidad de los Andes
2 Department of Computer Science, Universidad de los Andes
3 Department of Mechanical Engineering, Universidad de los Andes
TitleA Vision Based Algorithm for the Guidance of a Glider
Conference NameConference on Graphics, Patterns and Images, 26 (SIBGRAPI)
EditorBoyer, Kim
Hirata, Nina
Nedel, Luciana
Silva, Claudio
Book TitleProceedings
DateAug. 5-8, 2013
Publisher CityLos Alamitos
PublisherIEEE Computer Society
Conference LocationArequipa, Peru
KeywordsVisual Tracking, UAV, Visual Guidance, SURF.
AbstractIn this paper we propose a visual estimation algorithm to aid the guidance system of an unmanned aerial vehicle (UAV). Specifically, we are considering a glider UAV trying to reach a target zone. Given that the UAV is falling fast, the scale of the images captured by the on-board camera grows. The vehicle dynamics and the control algorithm cause fast changes in the region seen by the camera and in the way it projects to the image plane. We propose an algorithm based on projective transformations to estimate the target coordinate during the flight trajectory. The proposed vision algorithm provides accurate position information allowing the control system to guide the UAV to the target zone. Simulations have shown the accuracy of the vision algorithm and its usefulness in the considered application.
Tertiary TypeFull Paper
Size3913 KiB
Number of Files1
Target File114334 - A Vision Based Algorithm for the Guidance of a Glider.pdf
Last Update2013:
Metadata Last Update2020: administrator {D 2013}
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History2013-07-09 03:33:20 :: -> administrator ::
2020-02-19 03:09:22 :: administrator -> :: 2013
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Access Date2020, Nov. 26