A comparison of pose estimation algorithms for machine vision based aerial refueling for UAVs

14th Mediterranean Conference on Control and Automation, MED'06

Volumn , Issue , 2006, Pages

  Campa, Giampiero ^a   Mammarella, Marco ^a   Napolitano, Marcello R ^a   Fravolini, Mario L ^b   Pollini, Lorenzo ^c   Stolarik, Brian ^d  

^a West Virginia University   (United States)

^b UNIVERSITY OF PERUGIA   (Italy)

^c UNIVERSITY OF PISA   (Italy)

^d Institute for Scientific Research   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AERIAL REFUELING; AUTONOMOUS AERIAL REFUELING (AAR); OPTICAL MARKERS;

COMPUTER SIMULATION; COMPUTER VISION; POSITION CONTROL; UNMANNED AERIAL VEHICLES (UAV);

ALGORITHMS;

EID: 35949000185     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/MED.2006.328769     Document Type: Conference Paper

References (18)

1. Korbly, R. and Sensong, L. "Relative attitudes for automatic docking," AIAA Journal of Guidance Control and Dynamics, Vol. 6, No. 3, 1983, pp. 213-215.
2. Kimmett J., Valasek J., Junkins J.L., "Autonomous Aerial Refueling Utilizing a Vision Based Navigation System", Proceedings of the 2002 AIAA GNC Conference, Paper 2002-5569, Monterey (CA), August 2002.
3. Fravolini, M.L., Ficola, A., Campa, G., Napolitano M.R., Seanor, B., "Modeling and Control Issues for Autonomous Aerial Refueling for UAVs Using a Probe-Drogue Refueling System," Journal of Aerospace Science Technology, Vol. 8, No. 7, 2004, pp. 611-618.
4. Philip N.K., Ananthasayanam M.R., "Relative Position and Attitude Estimation and Control Schemes for the Final Phase of an Autonomous Docking Mission of Spacecraft", Acta Astronautica, vol. 52, 2003, pp. 511-522.
5. Sinopoli B., Micheli M., Donato G., Koo T.J., "Vision Based Navigation for an Unmanned Aerial Vehicle", Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Vol. 2, 1757-1764, Seoul, South Korea, May 2001.
6. Pla, F., Marchant, J.A., "Matching Feature Points in Image Sequences through a Region-Based Method," Computer vision and image understanding, Vol. 66, No. 3, 1997, pp. 271-285.
7. Stevens, B.L., Lewis, F.L., "Aircraft Control and Simulation," John Wiley & Sons, New York, 1987.
8. Addington, G.A., Myatt, J.H., "Control-Surface Deflection Effects on the Innovative Control Effectors (ICE 101) Design, "Air Force Report", AFRL-VA-WP-TR-2000-3027, June 2000
9. Air Force Link, online database: http://www.af.mil/factsheets.
10. "Image Processing Toolbox for use with MATLAB: User's Guide" September 2003, The Mathworks Inc.
11. Hutchinson. S., Hager, G., Corke, P., "A tutorial on visual servo control", IEEE Transactions on Robotics and Automation, Vol. 12, No. 5, 1996, pp. 651-670.
12. Umeyama, S., "Parameterized point pattern matching and its application to recognition of object families," IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.15, No.2, 1993, pp.136-144
13. Pla, F., Marchant, J.A., "Matching Feature Points in Image Sequences through a Region-Based Method," Computer vision and image understanding, Vol. 66, No. 3, 1997, pp. 271-285.
14. Fravolini, M.L., Campa, G., Napolitano, M.R., Ficola, A., "Evaluation of Machine Vision Algorithms for Autonomous Aerial Refueling for Unmanned Aerial Vehicles", Submitted to: AIAA Journal of Aerospace Computing, Information and Communication, April 2005.
15. Campa, G., Mammarella, M, Napolitano, M.R., Fravolini, M.L., Pollini L., "Addressing Pose Estimation Issues for Machine Vision based UAV Autonomous Aerial Refueling", Submitted to: IEEE Transaction On Systems, Man and Cybernetics, June 2005.
16. Haralick, R.M et al., "Pose Estimation from Corresponding Point Data", IEEE Transactions on Systems, Man, and Cybernetics, Vol. 19, No. 6, 1989, pp. 1426-1446
17. Wilson, W., "Visual Servo Control of Robots Using Kalman Filter Estimates of Robot Pose Relative to Work-Pieces,Visual Servoing," K. Hashimoto, ed., World Scientific, 1994, pp. 71-104.
18. Lu, C.P., Hager, G.D., Mjolsness, E., "Fast and Globally Convergent Pose Estimation from Video Images," IEEE Transactions On Pattern Analysis and Machine Intelligence, Vol. 22, No. 6, 2000, pp. 610-622.