Name
Abstract | ||
|---|---|---|
Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several possibilities for original research. One of them is the study of visual navigation for this kind of vehicle, which would fill an operational gap left by inertial, GPS and other kinds of well-established dead-reckoning navigation. In this paper, a simple pose estimation system based on artificial landmarks is introduced for the accomplishment of that task. The vision system is able to track artificial visual beacons - objects with known geometrical properties - and from them a geometrical methodology can extract information about orientation and position of the blimp. A simple control system uses that data to keep the dirigible on a programmed trajectory. This visual control can be done using both fixed, external cameras focusing the blimp as well as onboard cameras, thus opening a way for future research on visual cooperation between aerial and ground mobile robots. Preliminary experimental results showing the correct functioning of the system are presented and discussed. |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/SIBGRA.1999.805721 | SIBGRAPI |
Keywords | Field | DocType |
original research,artificial visual beacon,visual cooperation,estimation system,visual control,vision system,artificial landmarks,visual navigation,pose estimation,promising research field,simple control system,autonomous dirigibles,control system,mobile robots,navigation,data mining,global positioning system,machine vision,sensors,remotely operated vehicles,dead reckoning,mobile robot,control systems | Blimp,Computer vision,Remotely operated underwater vehicle,Computer science,Pose,Global Positioning System,Artificial intelligence,Robot,Robotics,Mobile robot,Visual control | Conference |
ISBN | Citations | PageRank |
0-7695-0481-7 | 1 | 0.41 |
References | Authors | |
9 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Lúcio de Souza Coelho | 1 | 1 | 0.75 |
| Mario F. M. Campos | 2 | 106 | 9.17 |