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Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
2017 Journal of Intelligent and Robotic Systems  
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.  ...  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.  ...  In [93] a novel stereo vision-based obstacle avoidance technique for MAV tasks was introduced. Two stereo camera systems and an IMU were mounted on the quadrotor.  ... 
doi:10.1007/s10846-017-0483-z fatcat:2abqia3mlnedrlonxhlsjanffy

Relative Navigation in UAV Applications

Tuncay Yunus Erkec, Chingiz Hajiyev
2020 International Journal of Aviation Science and Technology  
based techniques have been compared via various approaches.  ...  The relative state estimation models of unmanned aerial vehicles which are based on separate systems as Inertial Navigation Systems (INS)&Global Navigation Satellite System (GNSS), Laser&INS and Vision  ...  INS and Vision Integration Based Relative Navigation Method of UAVs Vision based sensors and INS fusion techniques, which are used for relative navigation, have been awaken some researchers interest since  ... 
doi:10.23890/ijast.vm01is02.0202 fatcat:2xx44otnnnbtfbmf3nnx7pcd6u

A 3D Vision Cone Based Method for Collision Free Navigation of a Quadcopter UAV among Moving Obstacles

Zhenxing Ming, Hailong Huang
2021 Drones  
Therefore, many three-dimensional (3D) navigation algorithms based on different techniques, e.g., model predictive control (MPC)-based, navigation potential field-based, sliding mode control-based, and  ...  In this paper, a 3D vision cone-based reactive navigation algorithm is proposed to enable small quadcopter UAVs to seek a path through crowd-spaced 3D obstacles to the destination without collisions.  ...  In order to solve those limitations, we develop a novel 3D vision cone-based navigation method.  ... 
doi:10.3390/drones5040134 fatcat:yrc33wr5rjc2dcfzzarqggr25a

Navigation and Self-Semantic Location of Drones in Indoor Environments by Combining the Visual Bug Algorithm and Entropy-Based Vision

Darío Maravall, Javier de Lope, Juan P. Fuentes
2017 Frontiers in Neurorobotics  
We introduce a hybrid algorithm for the self-semantic location and autonomous navigation of robots using entropy-based vision and visual topological maps.  ...  In order to validate the proposal we have defined an experimental framework in which the visual bug algorithm is used by an Unmanned Aerial Vehicle (UAV) in typical indoor navigation tasks.  ...  Since most of the current UAVs have monocular onboard cameras as main source of information several computer vision techniques are used.  ... 
doi:10.3389/fnbot.2017.00046 pmid:28900394 fatcat:gx6oxwr6tncwzgzqthuemzwu2a

Stereo Vision-based Autonomous Navigation for Oil and Gas Pressure Vessel Inspection Using a Low-cost UAV

Leijian Yu, Erfu Yang, Beiya Yang, Andrew Loeliger, Zixiang Fei
2021 2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)  
Thereby, the improved ORB-SLAM3 is effective and robust enough for UAV self-localisation, and the developed stereo vision-based autonomous navigation approach can be deployed for pressure vessel visual  ...  The ROS-Gazebo-PX4 simulator is customised deeply to validate the developed stereo vision-based autonomous navigation approach.  ...  Thus, this work proposes a novel stereo vision-based autonomous navigation approach for the automatic acquisition of images inside oil and gas pressure vessels with a low-cost UAV.  ... 
doi:10.1109/rcar52367.2021.9517584 fatcat:oygcfcleyzd4xjb374equa6aha

Computer vision systems in unmanned aerial vehicle: A review

Odilon Linhares Carvalho Mendes, Giovanna Miceli Ronzani Borille
2019 Journal of Mechatronics Engineering  
For each work were analyzed the objectives, methodology and results. Based in this analysis, was made a comparison between the techniques and their challenges.  ...  The navigation and the position of the UAVs can be made by autonomous method through the computational vision, which is a technology of construction of artificial systems capable of read information from  ...  Numerous computer vision techniques can be applied to generate image measurements for vision or vision integrated navigation.  ... 
doi:10.21439/jme.v2i2.26 fatcat:usoqjulzu5eb7nii5e2j57zjz4

Impact of UAV Hardware Options on Bridge Inspection Mission Capabilities

Zahra Ameli, Yugandhar Aremanda, Wilhelm A. Friess, Eric N. Landis
2022 Drones  
for UAV application examined.  ...  Factors that limit the use of UAVs in bridge inspections include the UAV endurance, the capability of navigation in GPS deprived environments, the stability in confined spaces in close proximity to structural  ...  Acknowledgments: The authors wish to acknowledge Dale Peabody of the Maine Department of Transportation and Robert Blunt of VHB for their input on this work.  ... 
doi:10.3390/drones6030064 fatcat:pmskfeawhzdrnpjealnybkyapy

See and avoidance behaviors for autonomous navigation

Dah-Jye Lee, Randal W. Beard, Paul C. Merrell, Pengcheng Zhan, Douglas W. Gage
2004 Mobile Robots XVII  
Our research objective is to combine novel computer vision algorithms with innovative trajectory planning techniques for UAVs so that the see and avoid problem can be solved in real time.  ...  In this paper, we present a novel computer vision algorithm for collision detection and time-to-impact calculation based on feature density distribution (FDD) analysis.  ...  Because of the payload limitation and power requirement, stereo vision techniques may not be a good candidate for UAV applications, especially for small and micro UAVs.  ... 
doi:10.1117/12.571550 dblp:conf/mr/LeeBMZ02 fatcat:ds6v6dkz6jec5eoeldnc6y7g4q

Visual Navigation for Mobile Robots: A Survey

Francisco Bonin-Font, Alberto Ortiz, Gabriel Oliver
2008 Journal of Intelligent and Robotic Systems  
Mobile robot vision-based navigation has been the source of countless research contributions, from the domains of both vision and control.  ...  This survey presents those pieces of work, from the nineties until nowadays, which constitute a wide progress in visual navigation techniques for land, aerial and autonomous underwater vehicles.  ...  We also thank Lucrecia Rallo Fabra for her diligence and for her expert corrections and suggestions.  ... 
doi:10.1007/s10846-008-9235-4 fatcat:rkw4hdawznakjgccx32qt2etku

Combined optic-flow and stereo-based navigation of urban canyons for a UAV

S. Hrabar, G.S. Sukhatme, P. Corke, K. Usher, J. Roberts
2005 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present a novel vision-based technique for navigating an Unmanned Aerial Vehicle (UAV) through urban canyons. Our technique relies on both optic flow and stereo vision information.  ...  We show that the combination of stereo and optic-flow (stereo-flow) is more effective at navigating urban canyons than either technique alone.  ...  Also, Alan Butler who acted as the safety pilot for the UAV-based work, and Lawrence Collins from the Urban Search and Rescue Task Force of the Los Angeles Fire Department for making the Del Valle site  ... 
doi:10.1109/iros.2005.1544998 dblp:conf/iros/HrabarSCUR05 fatcat:7nz6rflanfaspmbc7yj7sqlfru

Special issue on micro-UAV perception and control

Nathan Michael, Davide Scaramuzza, Vijay Kumar
2012 Autonomous Robots  
This special journal issue focuses on the problems of perception and control for micro unmanned aerial vehicles (UAVs).  ...  A fundamental limitation of micro-UAVs arises from the onboard power for actuation, sensing, and computation, which can be insubstantial because of limitations on specific power and energy density with  ...  (doi:10 .1007/s10514-012-9285-0) presents a real-time stereo-vision based approach to localization for a micro-UAV equipped with downward facing fisheye and perspective cameras.  ... 
doi:10.1007/s10514-012-9295-y fatcat:6xug7qffcrhcpj2rry66hmmldu

Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection

Koppány Máthé, Lucian Buşoniu
2015 Sensors  
Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate  ...  In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful.  ...  We are grateful to Péter Virág from University of Miskolc, Hungary, for his contribution regarding the testing of image processing techniques; and to Cristea-Ioan Iuga from Technical University of Cluj-Napoca  ... 
doi:10.3390/s150714887 pmid:26121608 pmcid:PMC4541813 fatcat:mx662z5lj5b3jovkapc6p6fd5i

GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft

Girish Chowdhary, Eric N. Johnson, Daniel Magree, Allen Wu, Andy Shein
2013 Journal of Field Robotics  
Most proposed Vision aided Inertial Navigation Systems (V-INS) have been too computationally intensive or do not have sufficient integrity for closed-loop flight.  ...  The data presented from an autonomous landing of the 66 kg rotorcraft is to our knowledge the first demonstration of GPS-denied autonomous landing with an entirely self contained vision-based navigation  ...  Additionally, UAVs typically have strict payload and power constraints that limit the computational power available onboard, limiting the class of vision-based navigation techniques which can be practically  ... 
doi:10.1002/rob.21454 fatcat:bvomlet3hrbgrjm5p3q5uyso7m

A Deep CNN-Based Framework For Enhanced Aerial Imagery Registration with Applications to UAV Geolocalization

Ahmed Nassar, Karim Amer, Reda ElHakim, Mohamed ElHelw
2018 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  
In this paper we present a novel framework for geolocalizing Unmanned Aerial Vehicles (UAVs) using only their onboard camera.  ...  Obtained results demonstrate the viability of proposed method and that the utilization of visual information can offer a promising approach for unconstrained UAV navigation and enable the aerial platform  ...  Related Work Vision-Based UAV Geolocalization Using traditional computer vision techniques, image features are computed and used to compare reference and target images based on some similarity measures  ... 
doi:10.1109/cvprw.2018.00201 dblp:conf/cvpr/NassarAEE18 fatcat:5s7rpfftaray7jvb3yyiiznziq

Artificial Intelligence Approaches for UAV Navigation: Recent Advances and Future Challenges

Sifat Rezwan, Wooyeol Choi
2022 IEEE Access  
This paper comprehensively surveys and categorizes several AI approaches for autonomous UAV navigation implicated by several researchers.  ...  Therefore, many researchers are working on autonomous UAV navigation where UAVs can move and perform the assigned tasks based on their surroundings.  ...  Menfoukh [133] proposed an image augmentation method utilizing a CNN for vision-based UAV navigation.  ... 
doi:10.1109/access.2022.3157626 fatcat:tpulkb672ngg5cqqnziy77nzxa
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