Lippiello, Vincenzo and Siciliano, Bruno (2012) Wall Inspection Control of a VTOL Unmanned Aerial Vehicle Based on a Stereo Optical Flow. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal. IEEE, pp. 4296-4302. ISBN 978-1-4673-1737-5
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| Tipologia del documento: | Capitolo di libro | ||||||
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| Lingua: | English | ||||||
| Titolo: | Wall Inspection Control of a VTOL Unmanned Aerial Vehicle Based on a Stereo Optical Flow | ||||||
| Autori: |
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| Data: | 2012 | ||||||
| Numero di pagine: | 7 | ||||||
| Istituzione: | Università degli Studi di Napoli Federico II | ||||||
| Dipartimento: | Ingegneria elettrica e delle Tecnologie dell'Informazione | ||||||
| Titolo dell'opera che contiene il documento: | 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems October 7-12, 2012. Vilamoura, Algarve, Portugal | ||||||
| Editore: | IEEE | ||||||
| Data: | 2012 | ||||||
| ISBN: | 978-1-4673-1737-5 | ||||||
| Intervallo di pagine: | pp. 4296-4302 | ||||||
| Numero di pagine: | 7 | ||||||
| Diritti di accesso: | Accesso aperto | ||||||
| Informazioni aggiuntive: | AIRobots | ||||||
| Depositato il: | 24 Giu 2014 08:54 | ||||||
| Ultima modifica: | 17 Mag 2017 17:30 | ||||||
| URI: | http://www.fedoa.unina.it/id/eprint/9594 |
Abstract
An autonomous wall inspection control based on a stereo optical flow, suitable for unmanned aerial vehicles endowed with a stereo vision system, is proposed in this paper. The inspection task consists of simultaneously controlling the inspection velocity along the surface, the relative yaw angle between the vehicle and the observed plane, as well as the orthogonal distance. A virtual spherical camera is considered at the center of gravity of the vehicle. Then, a stereo optical flow, as if it had been acquired by the virtual camera, is generated from the visual data provided by the stereo vision system. The 3D visual measurements are also employed to estimate the relative position and orientation of the observed plane. Hence, the absolute vehicle velocity is estimated by using a robust translational average optical flow by integrating the total stereo flow. Finally, an inspection control and a hovering control are proposed. The effectiveness of the described approach has been demonstrated with a dynamic simulation in an environment composed of two adjacent walls
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