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An Stereoscopic Vision System Guiding an Autonomous Helicopter for Overhead Power Cable Inspection

  • Pascual Campoy
  • Pedro J. Garcia
  • Antonio Barrientos
  • Jaime del Cerro
  • Iñaqui Aguirre
  • Andrés Roa
  • Rafael Garcia
  • José M. Muñoz
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1998)

Abstract

The present paper describes the objectives, structure, present stage, results and future milestones of the project ELEVA. This project is aimed to control an autonomous helicopter in order to follow an overhead power cable by means of a stereo computer vision system. The helicopter is aimed to have always in sight the overhead power cable, to follow it by using it as an external visual reference guide and to record it for its ulterior visual inspection. These objectives are achieved by using a 3D computer vision system to generate the reference trajectory to be followed and by using internal sensors to control its stability and its trajectory. The paper presents the results obtained so far: visual detection and tracking of the power cable, robust under changing environments, and robust stationary control of the helicopter, now linked to a safety mechanical platform. Finally this paper describes the future challenges of the project and its temporal milestones.

Keywords

Linear Quadratic Visual Guidance Internal Sensor Power Cable Linear Quadratic Gaussian 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Pascual Campoy
    • 1
  • Pedro J. Garcia
    • 1
  • Antonio Barrientos
    • 1
  • Jaime del Cerro
    • 1
  • Iñaqui Aguirre
    • 1
  • Andrés Roa
    • 2
  • Rafael Garcia
    • 2
  • José M. Muñoz
    • 2
  1. 1.U.P.M - DISAM - División de Ingenieria de Sistemas y AutomáticaUniversidad Politécnica de MadridMadridSpain
  2. 2.Line Maintenance and Construction DepartmentRed Eléctrica de España, S.A.La Moraleja, MadridSpain

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