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Computer vision in UAV using ROS

Computer vision in UAV using ROS

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This chapter presents the concepts, advantages, and practical examples of computer vision on robot operating system (ROS), applied explicitly on unmanned aerial vehicle (UAV) domain. ROS was built with the concept of abstraction (using messages interfaces) to allow re-use of software. This concept allows the integration with already built source code for computer vision tasks with the ROS environment. In conjunction with the available simulators for ROS, it is possible to design UAV solutions in a model-based concept, anticipating many operational and technical constraints prior to operational release.

Chapter Contents:

  • 9.1 Introduction
  • 9.2 Computer vision on ROS
  • 9.3 Applications
  • 9.3.1 OpenCV in ROS
  • 9.3.1.1 Object detection
  • 9.3.2 Visual navigation
  • 9.3.2.1 Parallel tracking and mapping (PTAM)
  • 9.3.2.2 ROS package –autonomous flight
  • 9.3.2.3 tum ardrone GUI
  • 9.3.2.4 PTAM UAV camera feed and navigation
  • 9.3.3 Setting the drone state estimation node
  • 9.3.3.1 Simple navigation
  • 9.4 Future developments and trends in ROS
  • 9.5 Conclusion
  • References

Inspec keywords: autonomous aerial vehicles; robot vision; source code (software)

Other keywords: model-based concept; UAV solution; source code; unmanned aerial vehicle; computer vision; robot operating system; UAV domain; ROS environment

Subjects: Optical, image and video signal processing; Mobile robots; Aerospace control; Computer vision and image processing techniques

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