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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    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