The DOI matches its Crossref record; 2 of the 2 references it cites were found in a registry or an index.
Visually guided landing of an unmanned aerial vehicle
Abstract
We present the design and implementation of a real-time, vision-based landing algorithm for an autonomous helicopter. The landing algorithm is integrated with algorithms for visual acquisition of the target (a helipad) and navigation to the target, from an arbitrary initial position and orientation. We use vision for precise target detection and recognition, and a combination of vision and Global Positioning System for navigation. The helicopter updates its landing target parameters based on vision and uses an onboard behavior-based controller to follow a path to the landing site. We present significant results from flight trials in the field which demonstrate that our detection, recognition, and control algorithms are accurate, robust, and repeatable.
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Citations
Cites
A New Approach to Linear Filtering and Prediction Problems
Kalman, R. E. (1960) · Journal of Basic Engineering · doi:10.1115/1.3662552 · Cited by 31,751
A visual odometer for autonomous helicopter flight
Amidi, O., Kanade, T., & Fujita, K. (1999) · Robotics and Autonomous Systems · doi:10.1016/s0921-8890(99)00016-0 · Cited by 148
Cited by
Han, W., Zhang, X., Wang, Y., Wang, L., Huang, X., Li, J., Wang, S., Chen, W., Li, X., Feng, R., et al. (2023) · ISPRS Journal of Photogrammetry and Remote Sensing · doi:10.1016/j.isprsjprs.2023.05.032 · Cited by 303
Factor graph optimization for GNSS/INS integration: A comparison with the extended Kalman filter
Wen, W., Pfeifer, T., Bai, X., & Hsu, L. (2021) · NAVIGATION · doi:10.1002/navi.421 · Cited by 259
Metadata
- Authors
- Saripalli, S., Montgomery, J. F., & Sukhatme, G. S.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2003-06
- Volume
- 19
- Issue
- 3
- Pages
- 371-380
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2158598687
- Cited by
- 504
- References
- 2
- FWCI
- 31.36
- Type
- journal article
- Language
- en
- Open access
- closed
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- Saripalli, S., Montgomery, J. F., & Sukhatme, G. S. (2003). Visually guided landing of an unmanned aerial vehicle. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2003.810239
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
