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Map-enhanced visual taxiway extraction for autonomous taxiing of UAVs
journal contribution
posted on 2015-09-04, 13:58 authored by Bowen Lu, Baibing LiBaibing Li, Wen-Hua ChenWen-Hua ChenIn this paper, a map-enhanced method is proposed for vision-based taxiway
centreline extraction, which is a prerequisite of autonomous visual navigation systems for
unmanned aerial vehicles. Comparing with other sensors, cameras are able to provide richer
information. Consequently, vision based navigations have been intensively studied in the
recent two decades and computer vision techniques are shown to be capable of dealing with
various problems in applications. However, there are signi cant drawbacks associated with
these computer vision techniques that the accuracy and robustness may not meet the required
standard in some application scenarios. In this paper, a taxiway map is incorporated into the
analysis as prior knowledge to improve on the vehicle localisation and vision based centreline
extraction. We develop a map updating algorithm so that the traditional map is able to adapt
to the dynamic environment via Bayesian learning. The developed method is illustrated using
a simulation study.
Funding
This work was supported by the U.K. Engineering and Physical Sciences Research Council (EPSRC) Autonomous and Intelligent Systems programme under the grant number EP/J011525/1 with BAE Systems as the leading industrial partner.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
Workshop on Advanced Control and Navigation for Autonomous Aerospace VehiclesCitation
LU, B., LI, B. and CHEN, W.-H., 2015. Map-enhanced visual taxiway extraction for autonomous taxiing of UAVs. IFAC Papers online, 48(9), pp. 49–54.Publisher
Elsevier / © IFAC.Version
- AM (Accepted Manuscript)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2015Notes
This paper was accepted for publication in the journal IFAC Papers online and the definitive published version is available at http://dx.doi.org/10.1016/j.ifacol.2015.08.058. It was presented at the 2015 IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles, 10th-12th June 2015, Seville, Spain.ISSN
1474-6670Publisher version
Language
- en