Self feeding aerial robots, methods for detection and localization of standard wall outlets

Scott Morton, Ben Bosch, Nikolaos P Papanikolopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work describes computer vision methods developed for autonomous recharging of a quadrotor from a standard wall outlet. Specifically, this work encompasses two algorithms for detecting and tracking an outlet in a video stream acquired by a low cost quadrotor platform. Two different algorithms were developed for assumptions and requirements associated with different distances between the quadrotor and an outlet. The close-range algorithm achieves higher processing frequency and greater accuracy, but is effective within a limited distance to the outlet. The longrange detection algorithm requires greater processing time, but imposes fewer assumptions and can detect outlets at greater distances (lower resolution). The algorithms overlap in their effective ranges and therefore allow the system to continuously track from over 6 feet to within several inches of an outlet. The close-range algorithm has achieves a processing frequency greater than 15 Hz. The long-range detector accomplishes scale invariant hole detection with automatic outlet scale selection.

Original languageEnglish (US)
Title of host publication24th Mediterranean Conference on Control and Automation, MED 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages420-425
Number of pages6
ISBN (Electronic)9781467383455
DOIs
StatePublished - Aug 5 2016
Event24th Mediterranean Conference on Control and Automation, MED 2016 - Athens, Greece
Duration: Jun 21 2016Jun 24 2016

Publication series

Name24th Mediterranean Conference on Control and Automation, MED 2016

Other

Other24th Mediterranean Conference on Control and Automation, MED 2016
CountryGreece
CityAthens
Period6/21/166/24/16

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Morton, S., Bosch, B., & Papanikolopoulos, N. P. (2016). Self feeding aerial robots, methods for detection and localization of standard wall outlets. In 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 420-425). [7535864] (24th Mediterranean Conference on Control and Automation, MED 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2016.7535864