2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)最新文献_第5页

Fusion of stereo and Lidar data for dense depth map computation 用于密集深度图计算的立体和激光雷达数据融合

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101664

Hugo Courtois, N. Aouf

引用次数: 7

Keeping a moving target within the field of view of a Drone's onboard camera via stochastic estimation 通过随机估计将移动目标保持在无人机机载摄像机的视野内

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101659

Beatriz Hernandez-Hernandez, J. Martínez-Carranza, J. Rangel-Magdaleno

{"title":"Keeping a moving target within the field of view of a Drone's onboard camera via stochastic estimation","authors":"Beatriz Hernandez-Hernandez, J. Martínez-Carranza, J. Rangel-Magdaleno","doi":"10.1109/RED-UAS.2017.8101659","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101659","url":null,"abstract":"The use of Drones in areas such as cinema, sports, social events, and even video selfies has been increasing due to their flexibility to capture video in scenarios where there is an interest to keep a target within the field of view of the drone's onboard camera. In order to remove the dependence of the pilot that controls the drone, in this work we present a system for an autonomous flight control of the drone with the goal of keeping a target within the field of view of its onboard camera. For the latter, the images were captured by a camera onboard the drone, whose output was combined with a stochastic estimator of the target states, based on the Unscented Kalman Filter, to generate control commands in order that the drone which performs such recording autonomously. The system was validated with real-time tests involving different targets moving with different trajectories and it was compared against human pilots. Our approach kept the target within the field of view with a 96.6% of success compared to 83.3% of success obtained by human pilots. The latter indicates that our approach has the potential to be used in applications where autonomous drones could be used for aerial video recording, with a special interest in keeping a target within the field of view of the drone's camera.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130858987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Contingency path planning for hybrid-electric UAS 混合动力无人机应急路径规划

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101640

A. Hovenburg, Fabio Augusto de Alcantara Andrade, Christopher Dahlin Rodin, T. Johansen, R. Storvold

引用次数: 1

Efficient real-time video stabilization for UAVs using only IMU data 仅使用IMU数据的无人机高效实时视频稳定

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101668

M. Odelga, N. Kochanek, H. Bülthoff

{"title":"Efficient real-time video stabilization for UAVs using only IMU data","authors":"M. Odelga, N. Kochanek, H. Bülthoff","doi":"10.1109/RED-UAS.2017.8101668","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101668","url":null,"abstract":"While some unmanned aerial vehicles (UAVs) have the capacity to carry mechanically stabilized camera equipment, weight limits or other problems may make mechanical stabilization impractical. As a result many UAVs rely on fixed cameras to provide a video stream to an operator or observer. With a fixed camera, the video stream is often unsteady due to the multirotor's movement from wind and acceleration. These video streams are often analyzed by both humans and machines, and the unwanted camera movement can cause problems for both. For a human observer, unwanted movement may simply make it harder to follow the video, while for computer algorithms, it may severely impair the algorithm's intended function. There has been significant research on how to stabilize videos using feature tracking to determine camera movement, which in turn is used to manipulate frames and stabilize the camera stream. We believe, however, that this process could be greatly simplified by using data from a UAV's on-board inertial measurement unit (IMU) to stabilize the camera feed. In this paper we present an algorithm for video stabilization based only on IMU data from a UAV platform. Our results show that our algorithm successfully stabilizes the camera stream with the added benefit of requiring less computational power.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126357659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 12