Real-time 6DoF deck pose estimation and target tracking for landing an UAV in a cluttered shipboard environment using on-board vision

Author

Shanggang Lin ; Garratt, Matthew A. ; Lambert, Andrew J.

Author_Institution

Sch. of Eng. & Inf. Technol., Univ. of New South Wales, Canberra, ACT, Australia

fYear

2015

fDate

2-5 Aug. 2015

Firstpage

474

Lastpage

481

Abstract

We present a novel vision system for estimating the 6DoF relative pose of an UAV from a shipdeck. The vision system aims to detect the international landing target using the edge information of the target to perform line segment mapping, feature point clustering and filtering. A novel target-shape evaluation scheme is developed to fuse the measurements. Real-time onboard flight tests demonstrate that the improved vision system is fast, accurate and capable of dealing with an incomplete target, whilst the overall design is able to perform target tracking and achieve closed-loop control.

Keywords

autonomous aerial vehicles; closed loop systems; image filtering; pattern clustering; pose estimation; robot vision; target tracking; 6DoF relative pose estimation; UAV; closed-loop control; cluttered shipboard environment; feature point clustering; feature point filtering; international landing target detection; line segment mapping; on-board vision; onboard flight tests; real-time 6DoF deck pose estimation; shipdeck; target tracking; target-shape evaluation scheme; vision system; Cameras; Estimation; Feature extraction; Image color analysis; Image segmentation; Machine vision; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2015 IEEE International Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4799-7097-1

Type

conf

DOI

10.1109/ICMA.2015.7237532

Filename

7237532