An omni-vision based localization method for automatic helicopter landing assistance on standard helipads

Wu, Chih‐Jen; Tsai, Wen‐Hsiang

doi:10.1109/iccae.2010.5451607

Cited by 3 publications

(1 citation statement)

References 10 publications

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“…In the study by Wu and Tsai, 19 an omni-vision-based localization algorithm was presented to support the drone landing on standard helipad. The method assesses the proper geometric features of points, circles, and lines of heliport marks in order to estimate pose of helicopter with respect to the landing site.…”

Section: Related Workmentioning

confidence: 99%

Helipad detection for accurate UAV pose estimation by means of a visual sensor

Patruno¹,

Nitti²,

Stella³

et al. 2017

International Journal of Advanced Robotic Systems

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In this article, we tackle the problem of developing a visual framework to allow the autonomous landing of an unmanned aerial vehicle onto a platform using a single camera. Specifically, we propose a vision-based helipad detection algorithm in order to estimate the attitude of a drone on which the camera is fastened with respect to target. Since the algorithm should be simple and quick, we implemented a method based on curvatures in order to detect the heliport marks, that is, the corners of character H. By knowing the size of H mark and the actual location of its corners, we are able to compute the homography matrix containing the relative pose information. The effectiveness of our methodology has been proven through controlled indoor and outdoor experiments. The outcomes have shown that the method provides high accuracies in estimating the distance and the orientation of camera with respect to visual target. Specifically, small errors lower than 1% and 4% have been achieved in the computing of measurements, respectively.

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Section: Related Workmentioning

confidence: 99%

Helipad detection for accurate UAV pose estimation by means of a visual sensor

Patruno¹,

Nitti²,

Stella³

et al. 2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

Hough transform with dynamic thresholding for robust and real-time detection of complex curves in images

Shih

Tsai

2013

2013 IEEE International Conference on Acoustics, Speech and Signal Processing

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A Two-Omni-Camera Stereo Vision System With an Automatic Adaptation Capability to Any System Setup for 3-D Vision Applications

Shih

Tsai

2013

IEEE Trans. Circuits Syst. Video Technol.

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A stereo vision system using two omni-cameras for 3-D vision applications is proposed, which has an automatic adaptation capability to any system setup before 3-D data computation is conducted. The adaptation, which yields the orientations and distance of the two omni-cameras, is accomplished by detecting and analyzing the horizontal lines appearing in the omni-images acquired with the cameras and a person standing in front of the cameras. Properties of line features in environments are utilized for detecting more precisely the horizontal lines that appear as conic sections in omni-images. The detection work is accomplished through the use of carefully chosen parameters and a refined Hough transform technique. The detected horizontal lines are utilized to compute the cameras' orientations and distance from which the 3-D data of space points are derived analytically. Compared with a traditional system using a pair of projective cameras with nonadjustable camera orientations and distance, the proposed system has the advantages of offering more flexibility in camera setups, better usability in wide areas, higher precision in computed 3-D data, and more convenience for nontechnical users. Good experimental results show the feasibility of the proposed system. Index Terms-3-D vision applications, automatic adaptation, omni-camera, omni-image, stereo vision, system setup.

show abstract

An omni-vision based localization method for automatic helicopter landing assistance on standard helipads

Cited by 3 publications

References 10 publications

Helipad detection for accurate UAV pose estimation by means of a visual sensor

Helipad detection for accurate UAV pose estimation by means of a visual sensor

Hough transform with dynamic thresholding for robust and real-time detection of complex curves in images

A Two-Omni-Camera Stereo Vision System With an Automatic Adaptation Capability to Any System Setup for 3-D Vision Applications

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