Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Survey on Computer Vision for UAVs: Current Developments and Trends
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0003-0126-1897
Antal upphovsmän: 22017 (Engelska)Ingår i: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 87, nr 1, s. 141-168Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms. The major challenge today is the development of autonomously operating aerial agents capable of completing missions independently of human interaction. To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills. The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends. These applications are sorted in different categories according to the research topics among various research groups. More specifically vision based position-attitude control, pose estimation and mapping, obstacle detection as well as target tracking are the identified components towards autonomous agents. Aerial platforms could reach greater level of autonomy by integrating all these technologies onboard. Additionally, throughout this article the concept of fusion multiple sensors is highlighted, while an overview on the challenges addressed and future trends in autonomous agent development will be also provided.

Ort, förlag, år, upplaga, sidor
Springer, 2017. Vol. 87, nr 1, s. 141-168
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-61786DOI: 10.1007/s10846-017-0483-zISI: 000402236900009Scopus ID: 2-s2.0-85010764302OAI: oai:DiVA.org:ltu-61786DiVA, id: diva2:1070742
Projekt
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horisont 2020, 644128
Anmärkning

Validerad;2017;Nivå 2;2017-05-30 (andbra)

Tillgänglig från: 2017-02-02 Skapad: 2017-02-02 Senast uppdaterad: 2018-07-10Bibliografiskt granskad
Ingår i avhandling
1. On Visual Perception for an Aerial Robotic Worker
Öppna denna publikation i ny flik eller fönster >>On Visual Perception for an Aerial Robotic Worker
2017 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
Abstract [en]

Micro Aerial Vehicles and especially multi rotors are gaining more and more attention for accomplishing complex tasks, considering their simple mechanical design and their versatile movement. MAVs are ideal candidates to perform tasks autonomously, to work safely in close proximity and in collaboration with humans, and to operate safely and effectively in natural human environments, like infrastructure inspection-maintenance, underground mine operations and surveillance missions. Adopting this vision, this thesis contributes in the aerial platform ecosystem that can be summarized by the term Aerial Robotic Worker (ARW). An ARW is characterized, among others, by its advanced capabilities on environmental perception and 3D reconstruction and active aerial manipulation.Using cameras for localization, mapping of an ARW as well as guidance on aerial manipulation is appealing mainly because of the small size and cost of such sensors. Nevertheless, visualinformation provided from the cameras is enormous, posing significant challenges in real-time data processing, while meeting the constraints of these platforms. Additionally, another challenge on visual perception considers the usage of multiple agents that collaboratively perceive their surroundings forming an aerial sensor. This thesis also investigates the applicability of visual SLAM algorithms in uncontrolled and cluttered environments. Furthermore, work will be presented on visual guidance for an aerial manipulator, which is challenging regarding the object detection, tracking and the platform approaching strategies. The first contribution will be the establishment of a flexible virtual stereo rig consisted of MPC controlled MAVs. The advantage of this approach is the varying baseline sensor that is composed from independently moving cameras, adjusting the depth perception accordingly. This method is able to provide the 3D reconstruction of the environment in a sparse pointcloud. The second contribution of this this thesis will examine the single agents in two different scenarios. Initially, experimental trials of commonly used visual sensors in hard and challenging environments will be presented in real scale underground ore mine to evaluate the localization and mapping performance of such technology for potential usage in UAVs. Secondly, theoretical work will be performed regarding attitude regulation of a hexacopter for stable hovering based on visual localization. In this work the time delays induced from the processing should be compensated with a switching control scheme which is able to maintain the stability of the platform. Finally, a third contribution of this thesis will be vision for aerial manipulation. The developed system includes a stereo camera that is attached on the end-effector of the aerial manipulator and is used to provide robust target detection and tracking. The visual feedback is processed to co-localize the aerial agent with the target and generate a waypoint that allows to approach the target.

Ort, förlag, år, upplaga, sidor
Luleå tekniska universitet, 2017
Serie
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Nationell ämneskategori
Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
urn:nbn:se:ltu:diva-65535 (URN)978-91-7583-955-4 (ISBN)978-91-7583-956-1 (ISBN)
Presentation
2017-10-10, D2223, Luleå, 09:00 (Engelska)
Forskningsfinansiär
EU, Horisont 2020
Tillgänglig från: 2017-09-11 Skapad: 2017-09-08 Senast uppdaterad: 2017-11-24Bibliografiskt granskad

Open Access i DiVA

fulltext(2456 kB)20 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 2456 kBChecksumma SHA-512
862223bf9a7af4dd766d38d0d61400affdc823a6ced8fb8244233e7734ac3a67ce370df0063d4927090612088840c2a6bd7ee7386a37bea2dfd08bcb2c1de185
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltextScopus

Personposter BETA

Kanellakis, ChristoforosNikolakopoulos, George

Sök vidare i DiVA

Av författaren/redaktören
Kanellakis, ChristoforosNikolakopoulos, George
Av organisationen
Signaler och system
I samma tidskrift
Journal of Intelligent and Robotic Systems
Reglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 20 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
urn-nbn

Altmetricpoäng

doi
urn-nbn
Totalt: 485 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf