A Robust Real-Time Vision System for Autonomous Cargo Transfer by an Unmanned Helicopter

Autor:	Xiangxu Dong, Ben M. Chen, Mingfeng Yin, Zhangyuan Hu, Feng Lin, Tong Heng Lee, Kevin Z. Y. Ang, Peidong Liu, Fei Wang, Shiyu Zhao
Rok vydání:	2015
Předmět:	Engineering Control and Systems Engineering Robustness (computer science) business.industry Machine vision Histogram Real-time computing Electrical and Electronic Engineering Ellipse business Real time vision Simulation
Zdroj:	IEEE Transactions on Industrial Electronics. 62:1210-1219
ISSN:	1557-9948 0278-0046
DOI:	10.1109/tie.2014.2345348
Popis:	Motivated by the 2013 International UAV Innovation Grand Prix, we design and implement a real-time vision system for an unmanned helicopter autonomously transferring cargoes between two platforms. In the competition, four cargoes are initially placed inside four circles on one platform, respectively. They are required to be transferred one by one into the four circles on the other platform. This paper presents the core algorithms of the proposed vision system on ellipse detection, ellipse tracking, and single-circle-based position estimation. Experiments and the great success of our team in the competition have verified the efficiency, accuracy, and robustness of the algorithms. Our team was ranked first in the final round competition.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::339ce403af3a75da835202c3073efbab https://doi.org/10.1109/tie.2014.2345348 Zobrazit plný text záznamu