Utilize este identificador para referenciar este registo:
http://hdl.handle.net/10071/18135
Autoria: | Silva, A. Mendonça, R. Santana, P. |
Data: | 2020 |
Título próprio: | Monocular trail detection and tracking aided by visual SLAM for small unmanned aerial vehicles |
Volume: | 97 |
Número: | 3-4 |
Paginação: | 531 - 551 |
ISSN: | 0921-0296 |
DOI (Digital Object Identifier): | 10.1007/s10846-019-01033-x |
Palavras-chave: | UAV Path detection Visual SLAM |
Resumo: | This article addresses the navigation problem of small and medium-sized unmanned aerial vehicles (UAVs) built to perform missions in forest environments (e.g., search and rescue) by exploiting the presence of natural or man-made paths, typically present in this type of environments. The proposed system extends a previous monocular-based technique for trail detection and tracking so as to take into account volumetric data acquired from a Visual SLAM algorithm and, as a result, to increase its sturdiness upon challenging trails. The experimental results, obtained via a set of 12 videos recorded with a camera installed in a tele-operated, unmanned small-sized aerial vehicle, show the ability of the proposed system to overcome some of the difficulties of the original detector, attaining a success rate of 97.8%. |
Arbitragem científica: | yes |
Acesso: | Acesso Aberto |
Aparece nas coleções: | IT-RI - Artigos em revistas científicas internacionais com arbitragem científica |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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manuscript_rev.pdf | Pós-print | 5,65 MB | Adobe PDF | Ver/Abrir |
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