Robot vision: obstacle-avoidance techniques for unmanned aerial vehicles

Raffaella Carloni, Vincenzo Lippiello, Massimo D'auria, Matteo Fumagalli, A.Y. Mersha, Stefano Stramigioli, Bruno Sicilano

    Research output: Contribution to journalArticleAcademicpeer-review

    25 Citations (Scopus)

    Abstract

    In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.
    Original languageUndefined
    Pages (from-to)22-31
    Number of pages10
    JournalRobotics and autonomous systems
    Volume20
    Issue number4
    DOIs
    Publication statusPublished - Dec 2013

    Keywords

    • EWI-24034
    • IR-95521
    • METIS-300187

    Cite this

    Carloni, R., Lippiello, V., D'auria, M., Fumagalli, M., Mersha, A. Y., Stramigioli, S., & Sicilano, B. (2013). Robot vision: obstacle-avoidance techniques for unmanned aerial vehicles. Robotics and autonomous systems, 20(4), 22-31. https://doi.org/10.1109/MRA.2013.2283632
    Carloni, Raffaella ; Lippiello, Vincenzo ; D'auria, Massimo ; Fumagalli, Matteo ; Mersha, A.Y. ; Stramigioli, Stefano ; Sicilano, Bruno. / Robot vision: obstacle-avoidance techniques for unmanned aerial vehicles. In: Robotics and autonomous systems. 2013 ; Vol. 20, No. 4. pp. 22-31.
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    abstract = "In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.",
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    author = "Raffaella Carloni and Vincenzo Lippiello and Massimo D'auria and Matteo Fumagalli and A.Y. Mersha and Stefano Stramigioli and Bruno Sicilano",
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    Carloni, R, Lippiello, V, D'auria, M, Fumagalli, M, Mersha, AY, Stramigioli, S & Sicilano, B 2013, 'Robot vision: obstacle-avoidance techniques for unmanned aerial vehicles', Robotics and autonomous systems, vol. 20, no. 4, pp. 22-31. https://doi.org/10.1109/MRA.2013.2283632

    Robot vision: obstacle-avoidance techniques for unmanned aerial vehicles. / Carloni, Raffaella; Lippiello, Vincenzo; D'auria, Massimo; Fumagalli, Matteo; Mersha, A.Y.; Stramigioli, Stefano; Sicilano, Bruno.

    In: Robotics and autonomous systems, Vol. 20, No. 4, 12.2013, p. 22-31.

    Research output: Contribution to journalArticleAcademicpeer-review

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    AU - Carloni, Raffaella

    AU - Lippiello, Vincenzo

    AU - D'auria, Massimo

    AU - Fumagalli, Matteo

    AU - Mersha, A.Y.

    AU - Stramigioli, Stefano

    AU - Sicilano, Bruno

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