IBVS of a rotary wing UAV using line features

Hui Xie; Alan Lynch; Martin Jagersand

doi:10.1109/CCECE.2014.6901119

IBVS of a rotary wing UAV using line features

Hui Xie, Alan Lynch, Martin Jagersand

Western Sydney University

Research output: Chapter in Book / Conference Paper › Conference Paper › peer-review

5 Citations (Scopus)

Abstract

![CDATA[We present an image-based visual servoing (IBVS) control scheme which can be used for inspecting power lines using rotary wing UAVs (Unmanned Aerial Vehicles). The control method tracks parallel lines using a virtual camera which is attached to the actual camera but has no roll or pitch displacement. We propose a set of image features from the projected lines on the virtual camera image plane. Based on the features’ interaction matrix an IBVS control law is developed. This proposed scheme is robust to camera calibration errors and does not require depth estimation. Simulation results are presented to illustrate the performance of the approach.]]

Original language	English
Title of host publication	Proceedings of the 2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE 2014), Toronto, Ontario, Canada, 4-7 May 2014
Publisher	IEEE
Pages	1202-1235
Number of pages	7
ISBN (Print)	9781479931026
DOIs	https://doi.org/10.1109/CCECE.2014.6901119
Publication status	Published - 2014
Event	Canadian Conference on Electrical and Computer Engineering - Duration: 4 May 2014 → …

Publication series

Name
ISSN (Print)	0840-7789

Conference

Conference	Canadian Conference on Electrical and Computer Engineering
Period	4/05/14 → …

Keywords

cameras
drone aircraft
quadrotor helicopters
visual servoing

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10.1109/CCECE.2014.6901119

Cite this

@inproceedings{4ef677fab5954a128f61ace14d72a1a9,

title = "IBVS of a rotary wing UAV using line features",

abstract = "![CDATA[We present an image-based visual servoing (IBVS) control scheme which can be used for inspecting power lines using rotary wing UAVs (Unmanned Aerial Vehicles). The control method tracks parallel lines using a virtual camera which is attached to the actual camera but has no roll or pitch displacement. We propose a set of image features from the projected lines on the virtual camera image plane. Based on the features{\textquoteright} interaction matrix an IBVS control law is developed. This proposed scheme is robust to camera calibration errors and does not require depth estimation. Simulation results are presented to illustrate the performance of the approach.]]",

keywords = "cameras, drone aircraft, quadrotor helicopters, visual servoing",

author = "Hui Xie and Alan Lynch and Martin Jagersand",

year = "2014",

doi = "10.1109/CCECE.2014.6901119",

language = "English",

isbn = "9781479931026",

publisher = "IEEE",

pages = "1202--1235",

booktitle = "Proceedings of the 2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE 2014), Toronto, Ontario, Canada, 4-7 May 2014",

note = "Canadian Conference on Electrical and Computer Engineering ; Conference date: 04-05-2014",

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TY - GEN

T1 - IBVS of a rotary wing UAV using line features

AU - Xie, Hui

AU - Lynch, Alan

AU - Jagersand, Martin

PY - 2014

Y1 - 2014

N2 - ![CDATA[We present an image-based visual servoing (IBVS) control scheme which can be used for inspecting power lines using rotary wing UAVs (Unmanned Aerial Vehicles). The control method tracks parallel lines using a virtual camera which is attached to the actual camera but has no roll or pitch displacement. We propose a set of image features from the projected lines on the virtual camera image plane. Based on the features’ interaction matrix an IBVS control law is developed. This proposed scheme is robust to camera calibration errors and does not require depth estimation. Simulation results are presented to illustrate the performance of the approach.]]

AB - ![CDATA[We present an image-based visual servoing (IBVS) control scheme which can be used for inspecting power lines using rotary wing UAVs (Unmanned Aerial Vehicles). The control method tracks parallel lines using a virtual camera which is attached to the actual camera but has no roll or pitch displacement. We propose a set of image features from the projected lines on the virtual camera image plane. Based on the features’ interaction matrix an IBVS control law is developed. This proposed scheme is robust to camera calibration errors and does not require depth estimation. Simulation results are presented to illustrate the performance of the approach.]]

KW - cameras

KW - drone aircraft

KW - quadrotor helicopters

KW - visual servoing

UR - http://handle.westernsydney.edu.au:8081/1959.7/uws:49459

U2 - 10.1109/CCECE.2014.6901119

DO - 10.1109/CCECE.2014.6901119

M3 - Conference Paper

SN - 9781479931026

SP - 1202

EP - 1235

BT - Proceedings of the 2014 IEEE 27th Canadian Conference on Electrical and Computer Engineering (CCECE 2014), Toronto, Ontario, Canada, 4-7 May 2014

PB - IEEE

T2 - Canadian Conference on Electrical and Computer Engineering

Y2 - 4 May 2014

ER -

IBVS of a rotary wing UAV using line features

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