Environmental surface boundary tracking and description using a UAV with vision

  • Authors:

  • Pablo Lanillos;José J. Ruz;Gonzalo Pajares;Jesus M. De La Cruz

  • Affiliations:

  • Dept. of Computer Architecture and Automatic Control, Complutense University Madrid, Spain;Dept. of Computer Architecture and Automatic Control, Complutense University Madrid, Spain;Dept. of Software Engineering and Artificial Intelligence, Complutense University Madrid, Spain;Dept. of Computer Architecture and Automatic Control, Complutense University Madrid, Spain

  • Venue:
  • ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
  • Year:
  • 2009

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Abstract

This work presents a strategy to track and describe the boundary of an environmental surface using a sequence of incomplete boundary images coming from an UAV with a camera onboard. The algorithm uses all captured images to feed the trajectory, which drives the UAV towards the next point to take the next shot, until the identification is completed. The multiple patterns of the input image make the problem difficult. Our approach orders the points of the image to identify the existent edges, and computes the trajectory as a minimization problem using a multi-objective function that gathers information about the boundary and the polynomial that fit in these edges.