Download or read book Realization of Vision based Runway Detection for Fixed wing UAV written by 黃佩瑩 and published by . This book was released on 2009 with total page 72 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Computer Vision in Runway Detection for UAV Approach and Landing written by and published by . This book was released on 2015 with total page 52 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Vision based Navigation for a Small Fixed wing Airplane in Urban Environment written by Myung Hwangbo and published by . This book was released on 2012 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: Abstract: "An urban operation of unmanned aerial vehicles (UAVs) demands a high level of autonomy for tasks presented in a cluttered environment. While fixed-wing UAVs are well suited for long-endurance missions at a high altitude, enabling them to navigate inside an urban area brings another level of challenges. Their inability to hover and low agility in motion cause more difficulties on finding a feasible path to move safely in a compact region, and the limited payload allows only low-grade sensors for state estimation and control. We address the problem of achieving vision-based autonomous navigation for a small fixed-wing in an urban area with contributions to the following several key topics. Firstly, for robust attitude estimation during dynamic maneuvering, we take advantage of the line regularity in an urban scene, which features vertical and horizontal edges of man-made structures. The sensor fusion with gravity-related line segments and gyroscopes in a Kalman filter can provide driftless and realtime attitude for flight stabilization. Secondly, as a prerequisite to sensor fusion, we present a convenient self-calibration scheme based on the factorization method. Natural references such as gravity, vertical edges, and distant scene points, available in urban fields, are sufficient to find intrinsic and extrinsic parameters of inertial and vision sensors. Lastly, to generate a dynamically feasible motion plan, we propose a discrete planning method that encodes a path into interconnections of finite trim states, which allow a significant dimension reduction of a search space and result in naturally implementable paths integrated with flight controllers. The most probable path to reach a target is computed by the Markov Decision Process with motion uncertainty due to wind, and a minimum target observation time is imposed on the final motion plan to consider a camera's limited field-of-view. In this thesis, the effectiveness of our vision-based navigation system is demonstrated by what we call an 'air slalom' task in which the UAV must autonomously search and localize multiple gates, and pass through them sequentially. Experiment results with a 1m wing-span airplane show essential navigation capabilities demanded in urban operations such as maneuvering passageways between buildings."

Download or read book Fuzzy Systems and Data Mining III written by A.J. Tallón-Ballesteros and published by IOS Press. This book was released on 2017-11-07 with total page 564 pages. Available in PDF, EPUB and Kindle. Book excerpt: Data science is proving to be one of the major trends of the second decade of the 21st century. Even though the term was coined by Peter Naur in the mid 1960s as ‘datalogy’, or the science of data, it is in the context of data analytics, and especially of big data, that data science has emerged as the new paradigm. Fuzzy and Crisp strategies are two of the most widespread approaches within the computational intelligence umbrella. This book presents 65 papers from the 3rd International Conference on Fuzzy Systems and Data Mining (FSDM 2017), held in Hualien, Taiwan, in November 2017. All papers were carefully reviewed by program committee members, who took into consideration the breadth and depth of the research topics that fall within the scope of FSDM. Offering a state-of-the-art overview of fuzzy systems and data mining, the publication will be of interest to all those whose work involves data science.

Download or read book Machine Vision Applications in UAVs for Autonomous Aerial Refueling and Runway Detection written by and published by . This book was released on 2006 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Low Cost Implementation of Autonomous Takeoff and Landing for a Fixed Wing UAV written by Thomas W. Carnes and published by . This book was released on 2014 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: The take-off and landing of an Unmanned Aerial Vehicle (UAV) is often the most critical and accident prone portion of its mission. This potential hazard coupled with the time and resources necessary to train a remote UAV pilot makes it desirable to have autonomous take-off and landing capabilities for UAVs. However, a robust, reliable, and accurate autonomous takeoff and landing capability for fixed-wing aircraft is not an available feature in many low-cost UAV flight control systems. This thesis describes the design of an autonomous take-off and landing algorithm implemented on an existing low-cost flight control system for a small fixed wing UAV. This thesis also describes the autonomous takeoff and landing algorithm development and gives validation results from hardware in the loop simulation.

Download or read book Vision Based Systemsfor UAV Applications written by Aleksander Nawrat and published by Springer. This book was released on 2013-05-04 with total page 344 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 Advances in Image and Graphics Technologies written by Tieniu Tan and published by Springer. This book was released on 2016-08-08 with total page 259 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 11th Chinese Conference on Image and Graphics Technologies and Applications, IGTA 2016, held in Beijing, China in July 2016. The 27 papers presented were carefully reviewed and selected from 69 submissions. They provide a forum for sharing progresses in the areas of image processing technology; image analysis and understanding; computer vision and pattern recognition; big data mining, computer graphics and VR; as well as image technology applications.

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 Development of an Airborne Vision Based Ground Target Localization and Tracking System Based on Angle of Arrival Estimation Method for a Fixed Wing UAV written by and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Sensor Fusion for Flight State Estimation of Fixed Wing Aerial Vehicles Design Implementation and Analysis written by Huang Peng and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Vision based Following of Structures Using an Unmanned Aerial Vehicle UAV written by Sivakumar Rathinam and published by . This book was released on 2006 with total page 24 pages. Available in PDF, EPUB and Kindle. Book excerpt: Inspecting and monitoring oil-gas pipelines, roads, bridges, canals are very important in ensuring the reliability and life expectancy of these civil systems. An autonomous Unmanned Aerial Vehicle (UAV) can decrease the operational costs, expedite the monitoring process and be used in situations where a manned inspection is not possible. This paper addresses the problem of monitoring these systems using an autonomous UAV based on visual feedback. A single structure detection algorithm that can identify and localize various structures including highways, roads, and canals is presented in the paper. A fast learning algorithm that requires minimal supervision is applied to obtain detection parameters. The real time detection algorithm runs at 5 Hz or more with the onboard video collected by the UAV. Both hard ware in the loop and flight results of the vision based control algorithm are presented in this paper. An UAV equipped with a camera onboard was able to track a 700 meter canal based on vision several times with a average cross track error of around 10 meters.

Download or read book Development of GNSS Free Navigation and Landing System Based on Deep Learning and Image Segmentation Methods with Runway Information for the Landing of a Fixed Wing UAV written by and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

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 Vision based Target Localization from a Small Fixed wing Unmanned Air Vehicle written by Joshua David Redding and published by . This book was released on 2005 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned air vehicles (UAVs) are attracting increased attention as their envelope of suitable tasks expands to include activities such as perimeter tracking, search and rescue assistance, surveillance and reconnaissance. The simplified goal of many of these tasks is to image an object for tracking or information-gathering purposes. The ability to determine the inertial location of a visible, ground-based object without requiring a priori knowledge of its exact location would therefore prove beneficial.

Download or read book Adaptive Estimation and Control with Application to Vision based Autonomous Formation Flight written by Ramachandra Jayant Sattigeri and published by . This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The role of vision as an additional sensing mechanism has received a lot of attention in recent years in the context of autonomous flight applications. Modern Unmanned Aerial Vehicles (UAVs) are equipped with vision sensors because of their light-weight, low-cost characteristics and also their ability to provide a rich variety of information of the environment in which the UAVs are navigating in. The problem of vision based autonomous flight is very difficult and challenging since it requires bringing together concepts from image processing and computer vision, target tracking and state estimation, and flight guidance and control. This thesis focuses on the adaptive state estimation, guidance and control problems involved in vision-based formation flight. Specifically, the thesis presents a composite adaptation approach to the partial state estimation of a class of nonlinear systems with unmodeled dynamics. In this approach, a linear time-varying Kalman filter is the nominal state estimator which is augmented by the output of an adaptive neural network (NN) that is trained with two error signals. The benefit of the proposed approach is in its faster and more accurate adaptation to the modeling errors over a conventional approach. The thesis also presents two approaches to the design of adaptive guidance and control (G & C) laws for line-of-sight formation flight. In the first approach, the guidance and autopilot systems are designed separately and then combined together by assuming time-scale separation. The second approach is based on integrating the guidance and autopilot design process. The developed G & C laws using both approaches are adaptive to unmodeled leader aircraft acceleration and to own aircraft aerodynamic uncertainties. The thesis also presents theoretical justification based on Lyapunov-like stability analysis for integrating the adaptive state estimation and adaptive G & C designs. All the developed designs are validated in nonlinear, 6DOF fixed-wing aircraft simulations. Finally, the thesis presents a decentralized coordination strategy for vision-based multiple-aircraft formation control. In this approach, each aircraft in formation regulates range from up to two nearest neighboring aircraft while simultaneously tracking nominal desired trajectories common to all aircraft and avoiding static obstacles.

Download or read book Vision based Detection of Aircrafts and UAVs written by Artem Rozantsev and published by . This book was released on 2017 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Mots-clés de l'auteur: computer vision ; unmanned aerial vehicles ; object detection ; motion compensation ; synthetic data generation ; machine learning ; deep learning ; domain adaptation.