421 research outputs found
Vision-based Safe Autonomous UAV Docking with Panoramic Sensors
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked
concerns about safety measures during their missions. To advance towards safer
autonomous aerial robots, this work presents a vision-based solution to
ensuring safe autonomous UAV landings with minimal infrastructure. During
docking maneuvers, UAVs pose a hazard to people in the vicinity. In this paper,
we propose the use of a single omnidirectional panoramic camera pointing
upwards from a landing pad to detect and estimate the position of people around
the landing area. The images are processed in real-time in an embedded
computer, which communicates with the onboard computer of approaching UAVs to
transition between landing, hovering or emergency landing states. While
landing, the ground camera also aids in finding an optimal position, which can
be required in case of low-battery or when hovering is no longer possible. We
use a YOLOv7-based object detection model and a XGBooxt model for localizing
nearby people, and the open-source ROS and PX4 frameworks for communication,
interfacing, and control of the UAV. We present both simulation and real-world
indoor experimental results to show the efficiency of our methods
Vision-Based navigation system for unmanned aerial vehicles
Mención Internacional en el título de doctorThe main objective of this dissertation is to provide Unmanned Aerial Vehicles
(UAVs) with a robust navigation system; in order to allow the UAVs to perform
complex tasks autonomously and in real-time. The proposed algorithms deal with
solving the navigation problem for outdoor as well as indoor environments, mainly
based on visual information that is captured by monocular cameras. In addition,
this dissertation presents the advantages of using the visual sensors as the main
source of data, or complementing other sensors in providing useful information; in
order to improve the accuracy and the robustness of the sensing purposes.
The dissertation mainly covers several research topics based on computer vision
techniques: (I) Pose Estimation, to provide a solution for estimating the 6D pose of
the UAV. This algorithm is based on the combination of SIFT detector and FREAK
descriptor; which maintains the performance of the feature points matching and decreases
the computational time. Thereafter, the pose estimation problem is solved
based on the decomposition of the world-to-frame and frame-to-frame homographies.
(II) Obstacle Detection and Collision Avoidance, in which, the UAV is able to
sense and detect the frontal obstacles that are situated in its path. The detection
algorithm mimics the human behaviors for detecting the approaching obstacles; by
analyzing the size changes of the detected feature points, combined with the expansion
ratios of the convex hull constructed around the detected feature points
from consecutive frames. Then, by comparing the area ratio of the obstacle and the
position of the UAV, the method decides if the detected obstacle may cause a collision.
Finally, the algorithm extracts the collision-free zones around the obstacle,
and combining with the tracked waypoints, the UAV performs the avoidance maneuver.
(III) Navigation Guidance, which generates the waypoints to determine
the flight path based on environment and the situated obstacles. Then provide
a strategy to follow the path segments and in an efficient way and perform the
flight maneuver smoothly. (IV) Visual Servoing, to offer different control solutions (Fuzzy Logic Control (FLC) and PID), based on the obtained visual information; in
order to achieve the flight stability as well as to perform the correct maneuver; to
avoid the possible collisions and track the waypoints.
All the proposed algorithms have been verified with real flights in both indoor
and outdoor environments, taking into consideration the visual conditions; such as
illumination and textures. The obtained results have been validated against other
systems; such as VICON motion capture system, DGPS in the case of pose estimate
algorithm. In addition, the proposed algorithms have been compared with several
previous works in the state of the art, and are results proves the improvement in
the accuracy and the robustness of the proposed algorithms.
Finally, this dissertation concludes that the visual sensors have the advantages
of lightweight and low consumption and provide reliable information, which is
considered as a powerful tool in the navigation systems to increase the autonomy
of the UAVs for real-world applications.El objetivo principal de esta tesis es proporcionar Vehiculos Aereos no Tripulados
(UAVs) con un sistema de navegacion robusto, para permitir a los UAVs realizar
tareas complejas de forma autonoma y en tiempo real. Los algoritmos propuestos
tratan de resolver problemas de la navegacion tanto en ambientes interiores como
al aire libre basandose principalmente en la informacion visual captada por las camaras
monoculares. Ademas, esta tesis doctoral presenta la ventaja de usar sensores
visuales bien como fuente principal de datos o complementando a otros sensores
en el suministro de informacion util, con el fin de mejorar la precision y la
robustez de los procesos de deteccion.
La tesis cubre, principalmente, varios temas de investigacion basados en tecnicas
de vision por computador: (I) Estimacion de la Posicion y la Orientacion
(Pose), para proporcionar una solucion a la estimacion de la posicion y orientacion
en 6D del UAV. Este algoritmo se basa en la combinacion del detector SIFT y el
descriptor FREAK, que mantiene el desempeno del a funcion de puntos de coincidencia
y disminuye el tiempo computacional. De esta manera, se soluciona el
problema de la estimacion de la posicion basandose en la descomposicion de las
homografias mundo a imagen e imagen a imagen. (II) Deteccion obstaculos y elusion
colisiones, donde el UAV es capaz de percibir y detectar los obstaculos frontales
que se encuentran en su camino. El algoritmo de deteccion imita comportamientos
humanos para detectar los obstaculos que se acercan, mediante el analisis de la
magnitud del cambio de los puntos caracteristicos detectados de referencia, combinado
con los ratios de expansion de los contornos convexos construidos alrededor
de los puntos caracteristicos detectados en frames consecutivos. A continuacion,
comparando la proporcion del area del obstaculo y la posicion del UAV, el metodo
decide si el obstaculo detectado puede provocar una colision. Por ultimo, el algoritmo
extrae las zonas libres de colision alrededor del obstaculo y combinandolo
con los puntos de referencia, elUAV realiza la maniobra de evasion. (III) Guiado de navegacion, que genera los puntos de referencia para determinar la trayectoria de
vuelo basada en el entorno y en los obstaculos detectados que encuentra. Proporciona
una estrategia para seguir los segmentos del trazado de una manera eficiente
y realizar la maniobra de vuelo con suavidad. (IV) Guiado por Vision, para ofrecer
soluciones de control diferentes (Control de Logica Fuzzy (FLC) y PID), basados en
la informacion visual obtenida con el fin de lograr la estabilidad de vuelo, asi como
realizar la maniobra correcta para evitar posibles colisiones y seguir los puntos de
referencia.
Todos los algoritmos propuestos han sido verificados con vuelos reales en ambientes
exteriores e interiores, tomando en consideracion condiciones visuales como
la iluminacion y las texturas. Los resultados obtenidos han sido validados con otros
sistemas: como el sistema de captura de movimiento VICON y DGPS en el caso del
algoritmo de estimacion de la posicion y orientacion. Ademas, los algoritmos propuestos
han sido comparados con trabajos anteriores recogidos en el estado del arte
con resultados que demuestran una mejora de la precision y la robustez de los algoritmos
propuestos.
Esta tesis doctoral concluye que los sensores visuales tienen las ventajes de tener
un peso ligero y un bajo consumo y, proporcionar informacion fiable, lo cual lo
hace una poderosa herramienta en los sistemas de navegacion para aumentar la
autonomia de los UAVs en aplicaciones del mundo real.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Carlo Regazzoni.- Secretario: Fernando García Fernández.- Vocal: Pascual Campoy Cerver
Dynamic Open Vocabulary Enhanced Safe-landing with Intelligence (DOVESEI)
This work targets what we consider to be the foundational step for urban
airborne robots, a safe landing. Our attention is directed toward what we deem
the most crucial aspect of the safe landing perception stack: segmentation. We
present a streamlined reactive UAV system that employs visual servoing by
harnessing the capabilities of open vocabulary image segmentation. This
approach can adapt to various scenarios with minimal adjustments, bypassing the
necessity for extensive data accumulation for refining internal models, thanks
to its open vocabulary methodology. Given the limitations imposed by local
authorities, our primary focus centers on operations originating from altitudes
of 100 meters. This choice is deliberate, as numerous preceding works have
dealt with altitudes up to 30 meters, aligning with the capabilities of small
stereo cameras. Consequently, we leave the remaining 20m to be navigated using
conventional 3D path planning methods. Utilizing monocular cameras and image
segmentation, our findings demonstrate the system's capability to successfully
execute landing maneuvers at altitudes as low as 20 meters. However, this
approach is vulnerable to intermittent and occasionally abrupt fluctuations in
the segmentation between frames in a video stream. To address this challenge,
we enhance the image segmentation output by introducing what we call a dynamic
focus: a masking mechanism that self adjusts according to the current landing
stage. This dynamic focus guides the control system to avoid regions beyond the
drone's safety radius projected onto the ground, thus mitigating the problems
with fluctuations. Through the implementation of this supplementary layer, our
experiments have reached improvements in the landing success rate of almost
tenfold when compared to global segmentation. All the source code is open
source and available online (github.com/MISTLab/DOVESEI).Comment: Submitted to IROS 2023 The Last-Mile Robotics Worksho
Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance
The inspection and maintenance tasks of electrical installations are very demanding.
Nowadays, insulator cleaning is carried out manually by operators using scaffolds, ropes, or even
helicopters. However, these operations involve potential risks for humans and the electrical structure.
The use of Unmanned Aerial Vehicles (UAV) to reduce the risk of these tasks is rising. This paper
presents an UAV to autonomously clean insulators on power lines. First, an insulator detection and
tracking algorithm has been implemented to control the UAV in operation. Second, a cleaning tool
has been designed consisting of a pump, a tank, and an arm to direct the flow of cleaning liquid.
Third, a vision system has been developed that is capable of detecting soiled areas using a semantic
segmentation neuronal network, calculating the trajectory for cleaning in the image plane, and
generating arm trajectories to efficiently clean the insulator. Fourth, an autonomous system has been
developed to land on a charging pad to charge the batteries and potentially fill the tank with cleaning
liquid. Finally, the autonomous system has been validated in a controlled outdoor environment.Ministerio de Ciencia e Innovación (CDTI) AERIAL-CORE H2020 ICT-10-2019-2020FEDER INTERCONECT
- …