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

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    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
    Issue number4
    Publication statusPublished - Dec 2013


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

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