Over het archief
Het OWA, het open archief van het Waterbouwkundig Laboratorium heeft tot doel alle vrij toegankelijke onderzoeksresultaten van dit instituut in digitale vorm aan te bieden. Op die manier wil het de zichtbaarheid, verspreiding en gebruik van deze onderzoeksresultaten, alsook de wetenschappelijke communicatie maximaal bevorderen.
Dit archief wordt uitgebouwd en beheerd volgens de principes van de Open Access Movement, en het daaruit ontstane Open Archives Initiative.
Basisinformatie over ‘Open Access to scholarly information'.
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
|
| Beschikbaar in | Auteurs |
|
Documenttype: Congresbijdrage
|
| Trefwoord |
|
| Author keywords |
visual SLAM; UAV; maritime; synthetic data |
| 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. |
IMIS is ontwikkeld en wordt gehost door het VLIZ.
