Abstract
We are developing a system for autonomous navigation of unmanned aerial vehicles (UAVs) based on computer vision. A UAV is equipped with on-board cameras and each UAV is provided with noisy estimates of its own state, coming from GPS/INS. The mission of the UAV is low altitude navigation from an initial position to a final position in a partially known 3-D environment while avoiding obstacles and minimizing path length. We use a hierarchical approach to path planning. We distinguish between a global offline computation, based on a coarse known model of the environment and a local online computation, based on the information coming from the vision system. A UAV builds and updates a virtual 3-D model of the surrounding environment by processing image sequences and fusing them with sensor data. Based on such a model the UAV will plan a path from its current position to the terminal point. It will then follow such path, getting more data from the on-board cameras, and refining map and local path in real time.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
