Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

WP6: IST / INRIA-SophiaTiago F. Gonçalves, José R. Azinheira, Patrick Rives

March 12-13, 2009

Ljubljana

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Contents

• Previous Work

• Visual Tracking (INRIA-Sophia / IST)– Dynamic management of ROIs

– Direct visual tracking

• Visual Servoing (IST / INRIA-Sophia)

– Sensor-based

– Position-based visual servoing

– Image-based visual servoing

• Results

• Conclusions / Future Work

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Previous Work (1)

• Matlab simulation framework:

– Visual tracking based on feature points

– Camera model with image discretization

– Homography computation using SVD

• ESM visual tracker:– Dense visual tracking

– Estimation of lightning parameters

– Real time performance

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Previous Work (2)

• Visual Servoing (PBVS)

– Optimal control design (LQR)

– Linearization of PEGASE aircraft flight model

– Direct control of actuators

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Visual Tracking (1)

• Dynamic management of ROIs:

– Avoid that the followed ROI goes out of the field-of-view

when the aircraft is manoeuvering

– Selection of the most textured region of the image

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Tracking (2)

• Direct visual tracking:

– Reference path defined by images

• Each sector is sampled by images

and indexed by respective camera pose

– Output

• Homography between current and

reference image ROIs

– Integrated into the PEGASE

simulation framework

Intellectual Property Rights are governed by PEGASE Contract Annex II Part C and PEGASE consortium agreements. Before using, reproducing, modifying or disclosing the information contained in that document, it is under the user responsibility to check its rights and if mandatory ask to the Intellectual Property Owner the authorisation to use, reproduce, modify or disclose the information.

Visual Servoing

• Sensor-based

– u = u0 - Kx(x - x0) - Kv(v - v0)

x/v -> pose/velocities states measured by aircraft sensors

• Position-based visual servoing (PBVS)

– u = u0 - Ky(y - y0) - Kv(v - v0)

y = f (H = R+tn’/d) pose data extrated from homography

by decompositon

• Image-based visual servoing (IBVS)

– u = u0 - Kxye - Kv(v - v0)

ye = (LscW0)+(H(:) – H*(:)), with H* = I(3)

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Visual Tracking Results (1)

•PBVS (closed-loop)

•Flog density – 0.4

•Rain density – 0.8

•Rain thickness – 1p

•Wind: 10m/s N -1m/s E

•No turbulence

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Visual Tracking Results (2)

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Visual Tracking Results (2)

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Visual Servoing Results (1)

•IBVS

•Flog density – 0.4

•Rain density – 0.8

•Rain thickness – 2p

•Wind: 10m/s N -1m/s E

•Turbulence – L1

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Visual Servoing Results (2)

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Conclusions

• Visual Tracking:

– Visual tracking software validated and integrated into the PEGASE simulation framework

– Not valid for low altitudes (<30m) due to the high pixel displacement

• Homography-based visual servoing– PBVS and IBVS validated and integrated into the

PEGASE simulation framework

– IBVS does not consider wind disturbances

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Future Work

• Pan-Tilt control– Pan-tilt control to compensate wind disturbance for IBVS

• Non-Linear control– Homography-based non-linear control law

• Complete automatic landing– Runway side lines following for flare, roll-out and also take-off

(Rives and Azinheira)