NDLI: A Vision Based Algorithm for the Guidance of a Glider

Content Provider	IEEE Xplore Digital Library
Author	Martinez, J.J. Hernandez, J.T. Rodriguez, C.F.
Copyright Year	2013
Description	Author affiliation: Dept. of Comput. Sci., Univ. de los Andes, Andes, Colombia (Martinez, J.J.; Hernandez, J.T.; Rodriguez, C.F.)
Abstract	In this paper we propose a visual estimation algorithm to aid the guidance system of an unmanned aerial vehicle (UAV). Specifically, we are considering a glider UAV trying to reach a target zone. Given that the UAV is falling fast, the scale of the images captured by the on-board camera grows. The vehicle dynamics and the control algorithm cause fast changes in the region seen by the camera and in the way it projects to the image plane. We propose an algorithm based on projective transformations to estimate the target coordinate during the flight trajectory. The proposed vision algorithm provides accurate position information allowing the control system to guide the UAV to the target zone. Simulations have shown the accuracy of the vision algorithm and its usefulness in the considered application.
Starting Page	203
Ending Page	209
File Size	585356
Page Count	7
File Format	PDF
ISBN	9780769550992
ISSN	15301834
DOI	10.1109/SIBGRAPI.2013.36
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-05
Publisher Place	Peru
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Estimation Trajectory Cameras Heuristic algorithms Target tracking Vectors Mathematical model SURF Visual Tracking UAV Visual Guidance
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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