Motivated by the 2013 International UAV Innovation Grand Prix (UAVGP), we design and implement a real-time vision system for an unmanned helicopter to transfer cargoes between two moving platforms fully autonomously. The key algorithms in the vision system include ellipse detection, ellipse tracking and single-circle-based pose estimation. Comprehensive experiments have verified the efficiency, accuracy and robustness of the algorithms. The developed vision system has helped us achieving a great success in UAVGP. Our team was ranked first in the final round competition.


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    Titel :

    A robust vision system for a UAV transporting cargoes between moving platforms


    Beteiligte:
    Zhao, Shiyu (Autor:in) / Hu, Zhangyuan (Autor:in) / Yin, Mingfeng (Autor:in) / Ang, Kevin Z. Y. (Autor:in) / Liu, Peidong (Autor:in) / Wang, Fei (Autor:in) / Dong, Xiangxu (Autor:in) / Lin, Feng (Autor:in) / Chen, Ben M. (Autor:in) / Lee, Tong H. (Autor:in)


    Erscheinungsdatum :

    2014-07-01


    Format / Umfang :

    447494 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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