Title :
Feature Matching Algorithms for Machine Vision Based Autonomous Aerial Refueling
Author :
Fravolini, M.L. ; Brunori, V. ; Ficola, A. ; La Cava, M. ; Campa, G.
Author_Institution :
Dept. of Electron. & Inf. Eng., Perugia Univ.
Abstract :
In this paper a machine vision (MV) based system is proposed as distance estimation sensor to be employed by UAVs during the operations of autonomous aerial refueling. For studying this problem it was developed a simulator featuring a 3D virtual reality (VR) interface that generates the image stream of the AAR maneuver. The proposed MV algorithm performs specific tasks as image processing for features extraction, feature matching and pose estimation. The problem of tanker/UAV attitude estimation from images is investigated in two scenarios: with and without artificial markers installed on the tanker. Two feature matching algorithms are proposed and the performance of the optical feedback signal are analyzed and compared in closed loop simulations
Keywords :
aircraft control; attitude control; computer vision; feature extraction; image matching; optical feedback; pose estimation; remotely operated vehicles; virtual reality; 3D virtual reality interface; UAV; autonomous aerial refueling; closed loop simulation; distance estimation sensor; feature extraction; feature matching algorithm; image processing; image stream; machine vision; optical feedback signal; pose estimation; tanker-UAV attitude estimation; unmanned aerial vehicle; Feature extraction; Image generation; Image processing; Machine vision; Optical feedback; Sensor systems; Signal analysis; Streaming media; Unmanned aerial vehicles; Virtual reality;
Conference_Titel :
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location :
Ancona
Print_ISBN :
0-9786720-1-1
Electronic_ISBN :
0-9786720-0-3
DOI :
10.1109/MED.2006.328792
