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Robot Vision: Obstacle-Avoidance Techniques for Unmanned Aerial Vehicles

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7 Author(s)
Raffaella Carloni ; Fac. of Electr. Eng., Math., & Comput. Sci., Univ. of Twente, Enschede, Netherlands ; Vincenzo Lippiello ; Massimo D'Auria ; Matteo Fumagalli
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In this article, a vision-based technique for obstacle avoidance and target identification is combined with haptic feedback to develop a new teleoperated navigation system for underactuated aerial vehicles in unknown environments. A three-dimensional (3-D) map of the surrounding environment is built by matching the keypoints among several images, which are acquired by an onboard camera and stored in a buffer together with the corresponding estimated odometry. Hence, based on the 3-D map, a visual identification algorithm is employed to localize both obstacles and the desired target to build a virtual field accordingly. A bilateral control system has been developed such that an operator can safely navigate in an unknown environment and perceive it by means of a vision-based haptic force-feedback device. Experimental tests in an indoor environment verify the effectiveness of the proposed teleoperated control.

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IEEE Robotics & Automation Magazine  (Volume:20 ,  Issue: 4 )