Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach
This article aims at flying target detection and localization of a fixed-wing unmanned aerial vehicle (UAV) autonomous take-off and landing within Global Navigation Satellite System (GNSS)-denied environments. A Chan-Vese model–based approach is proposed and developed for ground stereo vision detect...
| Main Authors: | , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2016
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/84706 http://hdl.handle.net/10220/41954 |
| _version_ | 1811694242918039552 |
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| author | Tang, Dengqing Hu, Tianjiang Shen, Lincheng Zhang, Daibing Kong, Weiwei Low, Kin Huat |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Tang, Dengqing Hu, Tianjiang Shen, Lincheng Zhang, Daibing Kong, Weiwei Low, Kin Huat |
| author_sort | Tang, Dengqing |
| collection | NTU |
| description | This article aims at flying target detection and localization of a fixed-wing unmanned aerial vehicle (UAV) autonomous take-off and landing within Global Navigation Satellite System (GNSS)-denied environments. A Chan-Vese model–based approach is proposed and developed for ground stereo vision detection. Extended Kalman Filter (EKF) is fused into state estimation to reduce the localization inaccuracy caused by measurement errors of object detection and Pan-Tilt unit (PTU) attitudes. Furthermore, the region-of-interest (ROI) setting up is conducted to improve the real-time capability. The present work contributes to real-time, accurate and robust features, compared with our previous works. Both offline and online experimental results validate the effectiveness and better performances of the proposed method against the traditional triangulation-based localization algorithm. |
| first_indexed | 2024-10-01T07:04:28Z |
| format | Journal Article |
| id | ntu-10356/84706 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:04:28Z |
| publishDate | 2016 |
| record_format | dspace |
| spelling | ntu-10356/847062023-03-04T17:12:09Z Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach Tang, Dengqing Hu, Tianjiang Shen, Lincheng Zhang, Daibing Kong, Weiwei Low, Kin Huat School of Mechanical and Aerospace Engineering UAV Localization This article aims at flying target detection and localization of a fixed-wing unmanned aerial vehicle (UAV) autonomous take-off and landing within Global Navigation Satellite System (GNSS)-denied environments. A Chan-Vese model–based approach is proposed and developed for ground stereo vision detection. Extended Kalman Filter (EKF) is fused into state estimation to reduce the localization inaccuracy caused by measurement errors of object detection and Pan-Tilt unit (PTU) attitudes. Furthermore, the region-of-interest (ROI) setting up is conducted to improve the real-time capability. The present work contributes to real-time, accurate and robust features, compared with our previous works. Both offline and online experimental results validate the effectiveness and better performances of the proposed method against the traditional triangulation-based localization algorithm. Published version 2016-12-28T07:26:03Z 2019-12-06T15:49:55Z 2016-12-28T07:26:03Z 2019-12-06T15:49:55Z 2016 Journal Article Tang, D., Hu, T., Shen, L., Zhang, D., Kong, W., & Low, K. H. (2016). Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach. International Journal of Advanced Robotic Systems, 13(2), 67-. 1729-8806 https://hdl.handle.net/10356/84706 http://hdl.handle.net/10220/41954 10.5772/62027 en International Journal of Advanced Robotic Systems © 2016 Author(s). Licensee InTech. This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. 14 p. application/pdf |
| spellingShingle | UAV Localization Tang, Dengqing Hu, Tianjiang Shen, Lincheng Zhang, Daibing Kong, Weiwei Low, Kin Huat Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title | Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title_full | Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title_fullStr | Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title_full_unstemmed | Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title_short | Ground Stereo Vision-based Navigation for Autonomous Take-off and Landing of UAVs: A Chan-Vese Model Approach |
| title_sort | ground stereo vision based navigation for autonomous take off and landing of uavs a chan vese model approach |
| topic | UAV Localization |
| url | https://hdl.handle.net/10356/84706 http://hdl.handle.net/10220/41954 |
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