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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    Title :

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


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


    Publication date :

    2014-07-01


    Size :

    447494 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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