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A robust real-time vision based GPS-denied navigation system of UAV
Yang LY(杨丽英); Xiao B(肖斌); Zhou Y(周宇); He YQ(何玉庆); Zhang, Hongzhi; Han JD(韩建达)
作者部门机器人学研究室
会议名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
会议日期June 19-22, 2016
会议地点Chengdu, China
会议录名称6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016
出版者IEEE
出版地Piscataway, NJ, USA
2016
页码321-326
收录类别EI ; CPCI(ISTP)
EI收录号20164302940188
WOS记录号WOS:000389835200059
产权排序1
ISSN号2379-7711
ISBN号978-1-5090-2732-3
关键词Uav Vision-based Navigation Target Detection Position And Velocity Estimation
摘要In 2015 International UAV Innovation Grand Prix the competition, the cargo transport task is assumed as: there are 4 buckets placed in four circles on one moving platform. Firstly, the unmanned aerial vehicle (UAV) is required to identify circle targets and the black and white id marker near the circle on one moving platform, then the UAV chosen a target bucket, tracked and transported it to the other moving platform, until all 4 buckets are transported from one moving platform to the other. In order to accomplish the cargo transport task, a method of a real-time vision-based GPS-denied multiple object tracking for UAV is developed. The Pixhawk controller is used to achieve tracking, that the relative distance and velocity between the target and UAV is estimated by the image. Finally, the experimental results proved the effectiveness and robustness of the algorithm.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19299
专题机器人学研究室
通讯作者Yang LY(杨丽英)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Northeastern University, Shenyang, 110819, China
3.Troubleshooting Branch of Liaoning Electric Power Company Limited, Shenyang, 110003, China
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GB/T 7714
Yang LY,Xiao B,Zhou Y,et al. A robust real-time vision based GPS-denied navigation system of UAV[C]. Piscataway, NJ, USA:IEEE,2016:321-326.
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