A view-based method for local homing of unmanned rotorcraft

Denuelle, Aymeric, Thurrowgood, Saul, Kendoul, Farid and Srinivasan, Mandyam V. (2015). A view-based method for local homing of unmanned rotorcraft. In: Donald Bailey, G. Sen Gupta and Serge Demidenko, Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, ICARA 2015. 6th International Conference on Automation, Robotics and Applications, Queenstown, New Zealand, (443-449). 17-19 February 2015. doi:10.1109/ICARA.2015.7081189

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Author Denuelle, Aymeric
Thurrowgood, Saul
Kendoul, Farid
Srinivasan, Mandyam V.
Title of paper A view-based method for local homing of unmanned rotorcraft
Conference name 6th International Conference on Automation, Robotics and Applications
Conference location Queenstown, New Zealand
Conference dates 17-19 February 2015
Proceedings title Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications, ICARA 2015
Journal name ICARA 2015 - Proceedings of the 2015 6th International Conference on Automation, Robotics and Applications
Series International Conference on Automation, Robotics and Applications
Publisher Institute of Electrical and Electronics Engineers
Publication Year 2015
Year available 2015
Sub-type Fully published paper
DOI 10.1109/ICARA.2015.7081189
ISBN 9781479964666
Editor Donald Bailey
G. Sen Gupta
Serge Demidenko
Start page 443
End page 449
Total pages 7
Collection year 2016
Language eng
Abstract/Summary This paper describes a novel view-based method using panoramic images to perform local homing in outdoor environments. This holistic algorithm makes uses of difference images (in relation to a reference snapshot) to build an image reference frame centred at the home position. The currently experienced view at any local position is then projected onto this reference frame to determine the image coordinates and the homing vector. We present here results obtained in a simulated environment as well as from static outdoor tests. The biologically inspired algorithm described in this study is a feasible alternative to the local homing schemes that strongly rely on odometry or landmark extraction, making it therefore well suited for implementation onboard unmanned aerial vehicles.
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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Created: Tue, 21 Apr 2015, 12:44:16 EST by Susan Day on behalf of Queensland Brain Institute