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dc.contributor.authorMartinez, C.
dc.contributor.authorRichardson, T.
dc.contributor.authorThomas, Peter R.
dc.contributor.authordu-Bois, J. L.
dc.contributor.authorCampoy, P.
dc.date.accessioned2015-10-20T15:32:00Z
dc.date.available2015-10-20T15:32:00Z
dc.date.issued2013-08
dc.identifier.citationMartinez , C , Richardson , T , Thomas , P R , du-Bois , J L & Campoy , P 2013 , ' A vision-based strategy for autonomous aerial refueling tasks ' , Robotics and Autonomous Systems , vol. 61 , no. 8 , pp. 876-895 . https://doi.org/10.1016/j.robot.2013.02.006
dc.identifier.issn0921-8890
dc.identifier.otherPURE: 9290059
dc.identifier.otherPURE UUID: cd957fda-ce68-4833-93f0-e21f4b02c16b
dc.identifier.otherBibtex: urn:4f48707ea5edf5d12b4409c71f38001e
dc.identifier.otherScopus: 84878788444
dc.identifier.otherORCID: /0000-0003-3834-0847/work/64667925
dc.identifier.urihttp://hdl.handle.net/2299/16528
dc.description.abstractAutonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refueling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue.en
dc.format.extent20
dc.language.isoeng
dc.relation.ispartofRobotics and Autonomous Systems
dc.subjectMachine vision, Aerial refuelling
dc.titleA vision-based strategy for autonomous aerial refueling tasksen
dc.contributor.institutionMaterials and Structures
dc.contributor.institutionSchool of Engineering and Computer Science
dc.contributor.institutionDepartment of Engineering and Technology
dc.contributor.institutionCentre for Engineering Research
dc.description.statusPeer reviewed
rioxxterms.versionSMUR
rioxxterms.versionofrecordhttps://doi.org/10.1016/j.robot.2013.02.006
rioxxterms.typeJournal Article/Review
herts.preservation.rarelyaccessedtrue


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