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Vision-based Target Recognition And Autonomous Flights Through Obstacle Arches With A Small UAV

Adolf, Florian-Michael and Andert, Franz and Goormann, Lukas and Dittrich, Jörg (2009) Vision-based Target Recognition And Autonomous Flights Through Obstacle Arches With A Small UAV. In: AHS 65th Annual Forum Proceedings. AHS 65th Annual Forum and Technology Display, 2009-05-27 - 2009-05-29, Grapevine, TX (USA).

Full text not available from this repository.

Official URL: http://www.vtol.org/forum65/forum65.html


The challenge for unmanned aerial vehicles to sense and avoid obstacles becomes even harder if narrow passages have to be passed for which no precise a-priori position information is available. Inspired by recent UAV flight competitions, this work presents a vision-based approach to search for a narrow gate and to fly through it autonomously. The gate’s precise position has to be detected in order to avoid a collision. Using a GPS-based self localization, the camera alignment and the gate position are estimated simultaneously. The presented approach alters a set of waypoints to fly through the gate. All algorithms run onboard the vehicle such that the gate is passed autonomously. Results from flight tests are presented that underline the feasibility of the presented approach.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Vision-based Target Recognition And Autonomous Flights Through Obstacle Arches With A Small UAV
AuthorsInstitution or Email of Authors
Adolf, Florian-Michaelflorian.adolf@dlr.de
Goormann, LukasUNSPECIFIED
Date:28 May 2009
Journal or Publication Title:AHS 65th Annual Forum Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Keywords:Computer Vision, UAV, Intelligent Systems Research, VTOL Unmanned Aerial Vehicle, Autonomous Flight
Event Title:AHS 65th Annual Forum and Technology Display
Event Location:Grapevine, TX (USA)
Event Type:international Conference
Event Dates:2009-05-27 - 2009-05-29
Organizer:AHS International
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Aeronautics
HGF - Program Themes:L VU - Air Traffic and Environment (old)
DLR - Research area:Aeronautics
DLR - Program:L VU - Air Traffic and Environment
DLR - Research theme (Project):L -- no assignement
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Flight Systems
Deposited By: Florian-Michael Adolf
Deposited On:15 Jul 2009 13:56
Last Modified:27 Oct 2009 09:47

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