Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing

José Raul Azinheira 1 Patrick Rives 2
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : A unified modeling framework is defined and an image-based visual servoing scheme is introduced to evaluate the feasibility of a vision-based guidance for a UAV model during survey missions and for automatic landing. Relevant image features are selected to allow for the proposed objective, namely decoupling rotation and translation in the image, and allowing to respect the natural separation between the lateral and ongitudinal motions of the aircraft. The controller design is adapted to include the aircraft dynamics and the vision output in an linear optimal control approach. Simulation results are presented in order to validate the proposed solution and allow for a critical evaluation.
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International Journal of Optomechatronics, Taylor & Francis, 2008, 2, pp.275-295. 〈10.1080/15599610802303314〉
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José Raul Azinheira, Patrick Rives. Image-Based Visual Servoing for Vanishing Features and Ground Lines Tracking: Application to a UAV Automatic Landing. International Journal of Optomechatronics, Taylor & Francis, 2008, 2, pp.275-295. 〈10.1080/15599610802303314〉. 〈hal-00766862〉

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