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The paper deals with the obstacle avoidance problem for unmanned aerial vehicles (UAVs) operating in teleoperated mode. First, a feedback controller that we proposed recently for the stabilization of the UAV's linear velocity is recalled. Then, based on sensory measurements, a control strategy is proposed in order to modify the reference velocity on-line in the neighborhood of obstacles so as to avoid...
Safe navigation through corridors plays a major role in the autonomous use of Micro Aerial Vehicles (MAVs) in indoor environments. In this paper, we present an approach for wall collision avoidance using a depth map based on optical flow from on board camera images. An omnidirectional fisheye camera is used as a primary sensor, while IMU data is needed for compensating rotational effects of the optical...
Localization of an unmanned ground vehicle (UGV) is a very important task for autonomous vehicle navigation. In this paper, we propose a computer vision technique to identify the location of an outdoor UGV. The proposed technique is based on 3D registration of 360 degree laser range data to a digital surface model (DSM). A long sequence of range frames is obtained from a rotating range sensor which...
There is growing international interest in a global exploration of the surface of Mars, more distant planets, and planetary moons. Mobile robots are of high interest for unmanned planetary exploration. During the last decade, there has been significant progress toward a supervised autonomous robotic capability for remotely controlled scientific exploration of planetary surfaces. Planetary Micro-Rovers...
Road information is useful in many fields. In this paper, a real-time mapping system is presented to acquire the image and determine the geometry of the road. These include designs of platform and instruments, data transmission, processing and archiving. Compare with the traditional platforms, the UAV (Unmanned Aerial Vehicle) platforms offer greater flexibility, shorter response time and is able...
Accurate sampling of macrozooplankton and micronekton has always been challenging. As an alternative sampling approach, camera systems can obtain images of particles or plankton in a quantitative fashion. However, planktonimaging devices built to date operate at too small a spatial scale to be useful for macrozooplankton and micronekton, which range in size from 1 cm to 1 m, with varied shapes, transparency...
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