Abstract
This paper proposes a novel approach for autonomous 3D tracking of targets and position control of a UAV, using a monocular camera to aim at positioning an end-effector probe on a vertical concrete surface. The proposed solution is based on features detection on a concrete surface, and aims to control the drone to a user defined target that is chosen via a user interface. To ensure 3D perception of the selected target, the approach is combined with a camera-based distance estimator, that uses laser pointers mounted on the drone. Experimental results show that the system is able to navigate towards the user-defined target and establish contact with it with a limited a margin of error.
Original language | English |
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Title of host publication | Proceedings of 2021 Aerial Robotic Systems Physically Interacting with the Environment |
Number of pages | 8 |
Publisher | IEEE |
Publication date | 2021 |
ISBN (Print) | 978-1-6654-3390-7 |
DOIs | |
Publication status | Published - 2021 |
Event | 1st Aerial Robotic Systems Physically Interacting with the Environment - Ilirija Resort, Biograd na Moru, Croatia Duration: 4 Oct 2021 → 5 Oct 2021 Conference number: 1 https://ieeexplore.ieee.org/xpl/conhome/9571021/proceeding |
Conference
Conference | 1st Aerial Robotic Systems Physically Interacting with the Environment |
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Number | 1 |
Location | Ilirija Resort |
Country/Territory | Croatia |
City | Biograd na Moru |
Period | 04/10/2021 → 05/10/2021 |
Internet address |