A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Use of the Hough transformation to detect lines and curves in pictures
Communications of the ACM
Shape Indexing Using Approximate Nearest-Neighbour Search in High-Dimensional Spaces
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Current Status and Future Perspectives for Unmanned Aircraft System Operations in the US
Journal of Intelligent and Robotic Systems
Multiple Heterogeneous Unmanned Aerial Vehicles
Multiple Heterogeneous Unmanned Aerial Vehicles
SURF: speeded up robust features
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
A Vision-Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks
Journal of Intelligent and Robotic Systems
Visual servoing of an autonomous micro air vehicle for ground object tracking
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A pan-tilt camera fuzzy vision controller on an unmanned aerial vehicle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Trinocular ground system to control UAVs
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
On-board and Ground Visual Pose Estimation Techniques for UAV Control
Journal of Intelligent and Robotic Systems
A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs
Journal of Intelligent and Robotic Systems
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Computer vision is much more than a technique to sense and recover environmental information from an UAV. It should play a main role regarding UAVs' functionality because of the big amount of information that can be extracted, its possible uses and applications, and its natural connection to human driven tasks, taking into account that vision is our main interface to world understanding. Our current research's focus lays on the development of techniques that allow UAVs to maneuver in spaces using visual information as their main input source. This task involves the creation of techniques that allow an UAV to maneuver towards features of interest whenever a GPS signal is not reliable or sufficient, e.g. when signal dropouts occur (which usually happens in urban areas, when flying through terrestrial urban canyons or when operating on remote planetary bodies), or when tracking or inspecting visual targets--including moving ones--without knowing their exact UMT coordinates. This paper also investigates visual servoing control techniques that use velocity and position of suitable image features to compute the references for flight control. This paper aims to give a global view of the main aspects related to the research field of computer vision for UAVs, clustered in four main active research lines: visual servoing and control, stereo-based visual navigation, image processing algorithms for detection and tracking, and visual SLAM. Finally, the results of applying these techniques in several applications are presented and discussed: this study will encompass power line inspection, mobile target tracking, stereo distance estimation, mapping and positioning.