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Vision aided navigation for unmanned helicopters

Tsourveloudis Nikolaos, Diomidis Katzourakis , Nikos I. Vitzilaios

Πλήρης Εγγραφή


URI: http://purl.tuc.gr/dl/dias/93C45218-BB01-48F2-90FF-B371BB14EF03
Έτος 2009
Τύπος Πλήρης Δημοσίευση σε Συνέδριο
Άδεια Χρήσης
Λεπτομέρειες
Βιβλιογραφική Αναφορά D. Katzourakis, N. I. Vitzilaios ,N. C. Tsourveloudis, ‘Vision Aided Navigation for Unmanned Helicopters’, in 2009 IEEE 17th Medit. Conf. on Control & Autom.,pp.1245 - 1250.doi :10.1109/MED.2009.5164717 https://doi.org/10.1109/MED.2009.5164717
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Περίληψη

The development of a vision system to aid the autonomous navigation of an unmanned helicopter, primarily based on inertial sensors and GPS data, is presented. An unmanned helicopter has been equipped with appropriate sensors and a vision system fitted on a custom pan-tilt mechanism. Robust software, based on the Open Computer Vision Library (OpenCV), has been developed for handling images and video from a camera. Our implementation involves real time object recognition, histogram matching for real time video streaming, pattern matching and object tracking. Software implemented in C++ interacts with Matlab in order to aid the autonomous navigation of the helicopter.

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