Original title: Vision-Based Autonomous Navigation Of An Unmanned Aerial Vehicle
Authors: Janoušek, Jiří
Document type: Papers
Language: eng
Publisher: Vysoké učení technické v Brně, Fakulta elektrotechniky a komunikačních technologií
Abstract: This article is focused on the real-time detection and recognition of the objects by using acamera located on Unmanned Aerial Vehicle (UAV). The detected objects in the image carry informationabout the next points of the flight plan according to which the drone performs an autonomousflight. The drone can recognize the information encoded in the patterns on the ground by the field ofview of the camera, therefore, it can perform flight manoeuvres consequently. The detection andinformation recognition is performed by a single-board computer and it is based on comparing imageswith a predefined Haar cascade. The single-board computer on the drone recognizes a size andspacing of the individual contrast points which determine the partial information about the next flightpath. Afterward, single-board computer transmits the detected information to the Pixhawk controlunit by using the Mavlink protocol in real-time. The aircraft control unit ensures the accurate positioningof the UAV by sequential execution of the commands.
Keywords: Autonomous; Haar; Image processing; Mavlink; UAV
Host item entry: Proceedings I of the 27st Conference STUDENT EEICT 2021: General papers, ISBN 978-80-214-5942-7

Institution: Brno University of Technology (web)
Document availability information: Fulltext is available in the Brno University of Technology Digital Library.
Original record: http://hdl.handle.net/11012/200697

Permalink: http://www.nusl.cz/ntk/nusl-447742


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