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Autonomous Ingress of a UAV through a window using Monocular Vision

The use of autonomous UAVs for surveillance purposes and other reconnaissance tasks is increasingly becoming popular and convenient.These tasks requires the ability to successfully ingress through the rectangular openings or windows of the target structure.In this paper, a method to robustly detect the window in the surrounding using basic image processing techniques and efficient distance measure, is proposed.Furthermore, a navigation scheme which incorporates this detection method for performing navigation task has also been proposed.The whole navigation task is performed and tested in the simulation environment GAZEBO.

preprint2016arXivOpen access
Abhinav PachauriVikrant MorePradeep GaidhaniNitin Gupta
Computer VisionRobotics
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Open access4 authors2 topics
Imported metadata coverageMissing code, dataset, citation and institution fields are tracked without dominating the paper.Details
Citations: 0Reviews: 0Saves: 0Code: not linkedDataset: not linkedInstitutions: 0

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Abhinav PachauriVikrant MorePradeep GaidhaniNitin Gupta

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