21 July 1999 Visual navigation system for autonomous indoor blimps
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Abstract
Autonomous dirigibles - aerial robots that are a blimp controlled by computer based on information gathered by sensors - are a new and promising research field in Robotics, offering several original work opportunities. One of them is the study of visual navigation of UAVs. In the work described in this paper, a Computer Vision and Control system was developed to perform automatically very simple navigation task for a small indoor blimp. The vision system is able to track artificial visual beacons - objects with known geometrical properties - and from them a geometrical methodology can extract information about orientation of the blimp. The tracking of natural landmarks is also a possibility for the vision technique developed. The control system uses that data to keep the dirigible on a programmed orientation. Experimental results showing the correct and efficient functioning of the system are shown and have your implications and future possibilities discussed.
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Mario F.M. Campos, Lucio de Souza Coelho, "Visual navigation system for autonomous indoor blimps", Proc. SPIE 3716, Visual Information Processing VIII, (21 July 1999); doi: 10.1117/12.354710; https://doi.org/10.1117/12.354710
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