Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Scribd Logo
Upload

Welcome to Scribd!

  • 70 views

    Vision Based Autonomous Landing of UAV

    Uploaded by

    Anurag Pandey
    The document discusses developing vision-based algorithms for autonomous landing of an unmanned aerial vehicle (UAV). It aims to detect a helipad using image processing techniques like thresholding, filtering and segmentation to identify the target landing area. A control architecture is proposed to enable autonomous motion based on visual tracking and state estimation, moving beyond current systems that require manual control. The goal is to enable autonomous landing and reduce crashes due to human error in UAV control.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd

    Vision Based Autonomous Landing of UAV

    Uploaded by

    Anurag Pandey
    70 views12 pages
    The document discusses developing vision-based algorithms for autonomous landing of an unmanned aerial vehicle (UAV). It aims to detect a helipad using image processing techniques like thresholding, filtering and segmentation to identify the target landing area. A control architecture is proposed to enable autonomous motion based on visual tracking and state estimation, moving beyond current systems that require manual control. The goal is to enable autonomous landing and reduce crashes due to human error in UAV control.

    Original Description:

    By Anurag Pandey and NItish Sharma

    Copyright

    © Attribution Non-Commercial (BY-NC)

    Available Formats

    PPTX, PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    The document discusses developing vision-based algorithms for autonomous landing of an unmanned aerial vehicle (UAV). It aims to detect a helipad using image processing techniques like thresholding, filtering and segmentation to identify the target landing area. A control architecture is proposed to enable autonomous motion based on visual tracking and state estimation, moving beyond current systems that require manual control. The goal is to enable autonomous landing and reduce crashes due to human error in UAV control.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    70 views12 pages

    Vision Based Autonomous Landing of UAV

    Uploaded by

    Anurag Pandey
    The document discusses developing vision-based algorithms for autonomous landing of an unmanned aerial vehicle (UAV). It aims to detect a helipad using image processing techniques like thresholding, filtering and segmentation to identify the target landing area. A control architecture is proposed to enable autonomous motion based on visual tracking and state estimation, moving beyond current systems that require manual control. The goal is to enable autonomous landing and reduce crashes due to human error in UAV control.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 12

    Mentor Prof.

    Amitabha Mukerjee

    Anurag Pandey

    Nitish Sharma

    UAV
    Unmanned Aerial Vehicle
    AR DRONE

    Vision Based Helipad Detection Autonomous Landing

    Previous Work
    Unmanned
    Vision based target tracking Manually controlled landing

    Motivation
    Crashes due to human error

    Task

    Vision Based Tracking

    Control Architecture

    Vision Algorithm
    Thresholding and Filtering
    Y = 0.299 * R + 0.596 * G + 0.211 * B

    Segmentation and Connected Component Labelling Object Recognition and State Estimation

    Vision Algorithm
    Optical Character Recognition
    Detecting the character H First, second and third moments are sufficient

    Control architecture
    AR.FreeFlight 2.0 Android App Controls Motion with Human Instructions Our Aim: Make it Autonomous

    References
    Vision-based Autonomous Landing of an Unmanned Aerial Vehicle by Srikanth

    Saripalli', James E Montgomery and Gaurav S. Sukhatme in Proceedings of the 2002 IEEE International Conference on Robotics & Automation Washington, DC May 2002 landing an unmanned aerial vehicle, in In Proceedings of IEEE International Conference on Robotics and Automation, 2001, pp. 1720-1728.

    Courtney S. Sharp, Omid Shakemia, and S.Shankar Sastry,A vision system for

    R.Gonzalez and R.Woods, Digital Image Processing, Addison-Wesley, 1992. http://www.24-

    7pressrelease.com/attachments/016/press_release_distribution_0169459_30112.jp g

    http://willyloman.files.wordpress.com/2009/09/cid_post-impact_2.jpg Ryan Miller, Bemard Mettler, and Omead Amidi, camegie mellon universitys

    1997 international aerial robotics competition entry, in International Aerial Robotics Competition, 1997.

    QUESTIONS??

    Thresholding
    Threshold - 80% of between the minimum and

    maximum gray scale values. Normalized value of 1 to pixel above threshold and 0 to one below threshold.

    Filtering
    7x7 Median filter for noise rejection Replaces each pixel value by the median of its

    neighboring pixel values

    Invariant Moments
    The (p+q)th moment of an object f(x,y) is : The center of gravity of the object is specified by:

    Central Moments about the centre of gravity is:

    Object orientation is:

    You might also like