Overslaan en naar de inhoud gaan
Publicaties | Personen | Instituten | Projecten
[ meld een fout in dit record ]mandje (0): toevoegen | toon Print deze pagina

Visual SLAM for autonomous drone landing on a maritime platform
Dutrannois, T.; Nguyen, T.-T.; Hamesse, C.; De Cubber, G.; Janssens, B. (2022). Visual SLAM for autonomous drone landing on a maritime platform, in: 2022 International Symposium on Measurement and Control in Robotics (ISMCR). pp. 66-72. https://dx.doi.org/10.1109/ISMCR56534.2022.9950582
In: (2022). 2022 International Symposium on Measurement and Control in Robotics (ISMCR). IEEE: United States. ISBN 978-1-6654-5497-1; e-ISBN 978-1-6654-5496-4. [diff. pag.] pp. https://dx.doi.org/10.1109/ISMCR56534.2022, meer

Beschikbaar in  Auteurs 
Documenttype: Congresbijdrage

Trefwoord
    Marien/Kust
Author keywords
    visual SLAM; UAV; maritime; synthetic data

Auteurs  Top 
  • Dutrannois, T., meer
  • Nguyen, T.-T., meer
  • Hamesse, C., meer
  • De Cubber, G., meer
  • Janssens, B., meer

Abstract
    Ship deck landing of Unmanned Aerial Vehicles (UAVs/drones) in different kinds of environmental conditions remains a bottleneck for the widespread deployment of UAVs for maritime operations. For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing phase. The visual SLAM algorithm ORBSLAM3 [1] was selected after benchmarking with multiple state-of-the-art visual SLAM and Visual Odometry (VO) algorithms with the EuRoC dataset [2]. It was evaluated for a simulated landing scenario of a UAV at 16m height with a downward camera in multiple configurations with sufficient results in both speed and accuracy for the landing task.

Alle informatie in het Integrated Marine Information System (IMIS) valt onder het VLIZ Privacy beleid Top | Auteurs