Dynamic visual servoing with image moments for a quadrotor using a virtual spring approach

Ozawa, Ryuta; Chaumette, François

doi:10.1109/icra.2011.5979645

Cited by 59 publications

(36 citation statements)

References 17 publications

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“…One is to regard the translational forces, which are generated by the incline of the UAV, as a result of the visual servoing. However, these virtual translational forces increase the image errors [11,18] and destabilize the UAV. Therefore, we introduce an original method called virtual spring approach that is based on the kinematic properties of a UAV to keep the incline of the UAV within a bounded region.…”

Section: R Ozawa and F Chaumettementioning

confidence: 99%

Dynamic visual servoing with image moments for an unmanned aerial vehicle using a virtual spring approach

Ozawa

Chaumette

2013

Advanced Robotics

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Section: R Ozawa and F Chaumettementioning

confidence: 99%

Dynamic visual servoing with image moments for an unmanned aerial vehicle using a virtual spring approach

Ozawa

Chaumette

2013

Advanced Robotics

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“…The suggested controller was hybrid and combined the advantages of PBVS and IBVS techniques, while a significant benefit of this hybrid approach is that it can be also operational with 3D objects with unknown geometries. In the approach presented in [22], similarly, the aim was to control the position and orientation of an aerial platform incorporating image features in the control loop. Initially, an IBVS control structure has been implemented to provide smooth vertical motion and yaw rotation for the UAV observing ground landmarks from a fixed down-looking camera.…”

Section: Visual Servoingmentioning

confidence: 99%

Survey on Computer Vision for UAVs: Current Developments and Trends

Kanellakis

Nikolakopoulos

2017

J Intell Robot Syst

273

112

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During last decade the scientific research on Unmanned Aerial Vehicless (UAVs) increased spectacularly and led to the design of multiple types of aerial platforms. The major challenge today is the development of autonomously operating aerial agents capable of completing missions independently of human interaction. 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. 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. These applications are sorted in different categories according to the research topics among various research groups. More specifically vision based position-attitude control, pose estimation and mapping, obstacle detection as well as target tracking are the identified components towards autonomous agents. Aerial platforms could reach greater level of autonomy by integrating all these technologies onboard. Additionally, throughout this article the concept of fusion multiple sensors is highlighted, while an overview on the challenges C. Kanellakis ( ) · G. Nikolakopoulos Luleå University of Technology, Luleå, Sweden e-mail: christoforos.kanellakis@ltu.se G. Nikolakopoulos e-mail: geonik@ltu.se addressed and future trends in autonomous agent development will be also provided.

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“…The later was selected online and characterised by its center of mass. Ozawa and Chaumette [3], achieved quadrotor stabilisation using Image moments. A virtual spring approach was considered for the horizontal position control to reduce the effect of the coupling between translational and rotational dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…Effect of the coupling between translation and rotation on the visual control of a quadrotor helicopter[3].…”

mentioning

confidence: 99%

Visual servoing of a Quadrotor UAV for autonomous power lines inspection

Araar

Aouf

2014

22nd Mediterranean Conference on Control and Automation

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The objective of this work is to achieve real time tracking of power conductors using a Quadrotor Unmanned Air Vehicle (UAV). Two solutions are proposed. For the first solution, the control is directly solved in the 2D image space. The link between image features and the kinematics of the vehicle is achieved using an Image Based Visual Servoing (IBVS) formulation, combined with a Linear Quadratic Servo (LQ-Servo) approach. In the second solution, a partial pose of the vehicle with respect to (wrt) the lines is estimated. Then, a position controller designed in the Cartesian space is used to drive the vehicle to the desired configuration. Experimental results are provided to validate the two approaches.

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Dynamic visual servoing with image moments for a quadrotor using a virtual spring approach

Cited by 59 publications

References 17 publications

Dynamic visual servoing with image moments for an unmanned aerial vehicle using a virtual spring approach

Dynamic visual servoing with image moments for an unmanned aerial vehicle using a virtual spring approach

Survey on Computer Vision for UAVs: Current Developments and Trends

Visual servoing of a Quadrotor UAV for autonomous power lines inspection

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