Unable to log in or get member pricing? Having trouble changing your password?

Please review our Frequently Asked Questions for complete information on these and other common situations.
 

Vertical Flight Library & Store

Exploration of Feature-Based Algorithm for Autonomous Ship-Deck Landing under Visually Degraded Conditions

Victoria Britcher, Abhishek Shastry, Inderjit Chopra, University of Maryland

https://doi.org/10.4050/F-0079-2023-18190

Abstract:
The objective of this paper is to experimentally validate our 2D, feature-based vision algorithm for tracking stochastic ship deck motion. Two main advancements are described in this work. First, the feature-based algorithm is computationally intensive and therefore requires a larger, more powerful flight computer to run in real-time. To accommodate this computer, a larger quadrotor UAV is developed. Second, the new quadrotor with the upgraded flight computer is used to experimentally evaluate the performance of the feature-based algorithm for estimating stochastic ship-deck motion generated by a Stewart platform. Additional open-loop tests were conducted, with the quadrotor held by hand above the landing pad, to analyze performance under visually degraded conditions. The results were validated against Vicon ground-truth data. From these results, it was found that the algorithm can accurately estimate the pose of the stochastically moving ship-deck under ideal visual conditions. However, in visually degraded conditions, the performance of the algorithm worsens, and provides unsatisfactory results under significant occlusion. A small time lag is also present in the pose estimation, due to the large computational time of the algorithm.


Exploration of Feature-Based Algorithm for Autonomous Ship-Deck Landing under Visually Degraded Conditions

  • Presented at Forum 79
  • 14 pages
  • SKU # : F-0079-2023-18190
  • Unmanned VTOL Aircraft and Rotorcraft

  • Your Price : $30.00
  • Join or log in to receive the member price of $20.00!


VFS member?
Don't add this to your cart just yet!
Be sure to log in first to receive the member price of $20.00!

 
Add To Cart

Add to Wish List

Reward Value:
(60) Member Points

Exploration of Feature-Based Algorithm for Autonomous Ship-Deck Landing under Visually Degraded Conditions

Authors / Details:
Victoria Britcher, Abhishek Shastry, Inderjit Chopra, University of Maryland