%0 Conference Proceedings
%4 sid.inpe.br/banon/2002/12.02.12.00
%2 sid.inpe.br/banon/2002/12.02.12.00.09
%@doi 10.1109/SIBGRAPI.2001.963059
%T A fast vision-based road following strategy applied to the control of aerial robots
%D 2001
%A Silveira, Geraldo F.,
%A Carvalho, J. Reginaldo H.,
%A Madrid, Marconi K.,
%A Rives, Patrick,
%A Bueno, Samuel S.,
%E Borges, Leandro Díbio,
%E Wu, Shin-Ting,
%B Brazilian Symposium on Computer Graphics and Image Processing, 14 (SIBGRAPI)
%C Florianópolis, SC, Brazil
%8 15-18 Oct. 2001
%I IEEE Computer Society
%J Los Alamitos
%P 226-231
%S Proceedings
%1 SBC - Brazilian Computer Society
%K computer vision application, robotics vehicles, visual servoing.
%X The utilization of the vision as a feedback sensor in closed-loop control schemes is of great interest, mainly due to the high density of information revealed by images. In this work, we present a method to perform road following tracking by aerial unmanned vehicles (AUV) based on visual input. Difficulties arise from the non-holonomic constraints of the AUV moving in 3D. The problems are overcome using a visual servoing approach based on an Interaction Matrix. Simulation results validating the methodology are shown at the end of the paper.
%@language en
%3 226-231.pdf
%O The conference was held in Florianópolis, SC, Brazil, from October 15 to 18.