Download or read book Vision Based Systemsfor UAV Applications written by Aleksander Nawrat and published by Springer. This book was released on 2013-12-06 with total page 348 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.
Download or read book Vision Based Tracking for Unmanned Aerial Vehicles written by and published by . This book was released on 2006 with total page 16 pages. Available in PDF, EPUB and Kindle. Book excerpt: This paper presents the design of a vision-based controller for an underactuated, unmanned aerial vehicle (UAV) equipped with a pan-tilt camera unit (PTCU) to achieve the objective of following a leader vehicle autonomously. The relative position and orientation information is obtained from the monocular camera utilizing homography-based techniques. The proposed controller, built upon Lyapunov design methods, achieves uniform ultimate bounded (UUB) tracking. As an extension, it is also demonstrated that the approach used in the development of the control strategy for the leaderfollower problem can be applied, with a few modifications, to the problem of trajectory tracking, where the desired trajectory is described as a sequence of images taken, for example, by the on-board camera during a previous flight.
Download or read book Dynamic Modeling and Vision Based Mobile Target Tracking in UAVs Using Wide FOV Cameras written by Mohsen Majnoon and published by . This book was released on 2016 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Control of unmanned aerial vehicles is a very active topic in research with lots of applications ranging from civilian to military. To control a UAV, its attitude is often controlled using gyroscopes, but to control its position, inertial sensors together with GPS are often used. However, obtaining accurate current position is difficult using inertial sensors because of the integration drift. GPS on the other hand is not functional in indoor applications since it cannot connect to GPS satellites. Since vision has been proved to be an inexpensive and consistent source of relative position information, vision-based control is getting more popular in UAVs recently, but then again, using vision in outdoor applications is challenging as the target can move fast and out of the vision sensor field of view. So, in order to keep the target inside the field of view, two algorithms are being developed and tested via simulation in this research. Using pan/tilt/zoom cameras or multi camera systems, the target is guaranteed to stay in vision system field of view and hence, the vision based pose estimation can provide the control system with proper relative position. Two case studies - vision-based mobile-target tracking of a quadrotor using a multi-camera vision sensor and vision-based mobile-target tracking of a tilting rotor aircraft equipped with a zooming camera - are presented in this research to show the applicability of these methods in UAV control.
Download or read book Object Tracking in a Computer Vision Based Autonomous See and avoid System for Unmanned Aerial Vehicles written by and published by . This book was released on 2004 with total page 61 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Quad Rotorcraft Control written by Luis Rodolfo García Carrillo and published by Springer Science & Business Media. This book was released on 2012-08-12 with total page 191 pages. Available in PDF, EPUB and Kindle. Book excerpt: Quad Rotorcraft Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, other sensors like GPS or image-sensing equipment can be incorporated to perform autonomous positioning or trajectory-tracking tasks. Two vision-based strategies, each designed to deal with a specific kind of mission, are introduced and separately tested. The first stabilizes the quad-rotor over a landing pad on the ground; it extracts the 3-dimensional position using homography estimation and derives translational velocity by optical flow calculation. The second combines colour-extraction and line-detection algorithms to control the quad-rotor’s 3-dimensional position and achieves forward velocity regulation during a road-following task. In order to estimate the translational-dynamical characteristics of the quad-rotor (relative position and translational velocity) as they evolve within a building or other unstructured, GPS-deprived environment, imaging, inertial and altitude sensors are combined in a state observer. The text give the reader a current view of the problems encountered in UAV control, specifically those relating to quad-rotor flying machines and it will interest researchers and graduate students working in that field. The vision-based control strategies presented help the reader to a better understanding of how an imaging system can be used to obtain the information required for performance of the hovering and navigation tasks ubiquitous in rotored UAV operation.
Download or read book UAV Sensors for Environmental Monitoring written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-03-05 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV Sensors for Environmental Monitoring" that was published in Sensors
Download or read book Advances in Unmanned Aerial Vehicles written by Kimon P. Valavanis and published by Springer Science & Business Media. This book was released on 2008-02-26 with total page 552 pages. Available in PDF, EPUB and Kindle. Book excerpt: The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.
Download or read book UAV Based Remote Sensing Volume 2 written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-04-27 with total page 405 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV-Based Remote Sensing" that was published in Sensors
Download or read book New Trends in Optimal Filtering and Control for Polynomial and Time Delay Systems written by Michael Basin and published by Springer. This book was released on 2008-09-18 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt: 0. 1 Introduction Although the general optimal solution of the ?ltering problem for nonlinear state and observation equations confused with white Gaussian noises is given by the Kushner equation for the conditional density of an unobserved state with respect to obser- tions (see [48] or [41], Theorem 6. 5, formula (6. 79) or [70], Subsection 5. 10. 5, formula (5. 10. 23)), there are a very few known examples of nonlinear systems where the Ku- ner equation can be reduced to a ?nite-dimensional closed system of ?ltering eq- tions for a certain number of lower conditional moments. The most famous result, the Kalman-Bucy ?lter [42], is related to the case of linear state and observation equations, where only two moments, the estimate itself and its variance, form a closed system of ?ltering equations. However, the optimal nonlinear ?nite-dimensional ?lter can be - tained in some other cases, if, for example, the state vector can take only a ?nite number of admissible states [91] or if the observation equation is linear and the drift term in the 2 2 state equation satis?es the Riccati equation df /dx + f = x (see [15]). The complete classi?cation of the “general situation” cases (this means that there are no special - sumptions on the structure of state and observation equations and the initial conditions), where the optimal nonlinear ?nite-dimensional ?lter exists, is given in [95].
Download or read book Moving Object Detection and Segmentation for Remote Aerial Video Surveillance written by Teutsch, Michael and published by KIT Scientific Publishing. This book was released on 2015-03-11 with total page 242 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Vehicles (UAVs) equipped with video cameras are a flexible support to ensure civil and military safety and security. In this thesis, a video processing chain is presented for moving object detection in aerial video surveillance. A Track-Before-Detect (TBD) algorithm is applied to detect motion that is independent of the camera motion. Novel robust and fast object detection and segmentation approaches improve the baseline TBD and outperform current state-of-the-art methods.
Download or read book Vision Based Estimation and Tracking Using Multiple Unmanned Aerial Vehicles written by Mingfeng Zhang and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Nonlinear Estimation for Vision based Air to air Tracking written by Seung-Min Oh and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAV's) have been the focus of significant research interest in both military and commercial areas since they have a variety of practical applications including reconnaissance, surveillance, target acquisition, search and rescue, patrolling, real-time monitoring, and mapping, to name a few. To increase the autonomy and the capability of these UAV's and thus to reduce the workload of human operators, typical autonomous UAV's are usually equipped with both a navigation system and a tracking system. The navigation system provides high-rate ownship states (typically ownship inertial position, inertial velocity, and attitude) that are directly used in the autopilot system, and the tracking system provides low-rate target tracking states (typically target relative position and velocity with respect to the ownship). Target states in the global frame can be obtained by adding the ownship states and the target tracking states. The data estimated from this combination of the navigation system and the tracking system provide key information for the design of most UAV guidance laws, control command generation, trajectory generation, and path planning.
Download or read book Optimal Control and Coordination of Small UAVs for Vision based Target Tracking written by Steven Andrew Provencio Quintero and published by . This book was released on 2014 with total page 215 pages. Available in PDF, EPUB and Kindle. Book excerpt: Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Download or read book Robust Estimation and Vision Based Flight Path Tracking for Unmanned Aerial Vehicles written by 陳奕憲 and published by . This book was released on 2012 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Vision Based Control and Target Range Estimation for Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 41 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.
Download or read book Performance Analysis for a Vision Based Target Tracking System of a Small Unmanned Aerial Vehicle written by and published by . This book was released on 2005 with total page 69 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis analyzes performance of the vision-based target-tracking system developed at the Naval Postgraduate School using the Monte Carlo method. Specifically, sensitivities of the target position estimation algorithm to various sensor errors are computed and analyzed. Furthermore, dependence of this algorithm on the performance of the target-tracking control system is established.
Download or read book UAV Based Remote Sensing Volume 1 written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-04-27 with total page 397 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV-Based Remote Sensing" that was published in Sensors
