Visual SLAM for Autonomous Drone Landing on a Maritime Platform

Thomas Dutrannois; Tien Thanh Nguyen; Charles Hamesse; Geert De Cubber; Bart Janssens

doi:10.1109/ISMCR56534.2022.9950582

Visual SLAM for Autonomous Drone Landing on a Maritime Platform

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

5 Zitate (Scopus)

Abstract

Ship deck landing of Unmanned Aerial Vehicles (UAVs/drones) in different kinds of environmental conditions remains a bottleneck for the widespread deployment of UAVs for maritime operations. For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing phase. The visual SLAM algorithm ORBSLAM3 [1] was selected after benchmarking with multiple state-of-the-art visual SLAM and Visual Odometry (VO) algorithms with the EuRoC dataset [2]. It was evaluated for a simulated landing scenario of a UAV at 16m height with a downward camera in multiple configurations with sufficient results in both speed and accuracy for the landing task.

Originalsprache	Englisch
Titel	Proceedings - International Symposium on Measurement and Control in Robotics
Untertitel	Robotics and Virtual Tools for a New Era, ISMCR 2022
Redakteure/-innen	Zafar Taqvi, Simone Keller Fuchter, Geraldo Gurgel Filho
Herausgeber (Verlag)	Institute of Electrical and Electronics Engineers Inc.
ISBN (elektronisch)	9781665454964
DOIs	https://doi.org/10.1109/ISMCR56534.2022.9950582
Publikationsstatus	Veröffentlicht - 2022
Veranstaltung	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 - Virtual, Online, USA/Vereinigte Staaten Dauer: 28 Sept. 2022 → 30 Sept. 2022

Publikationsreihe

Name	Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022

Konferenz

Konferenz	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022
Land/Gebiet	USA/Vereinigte Staaten
Ort	Virtual, Online
Zeitraum	28/09/22 → 30/09/22

Zugriff auf Dokument

10.1109/ISMCR56534.2022.9950582

Andere Dateien und Links

Verknüpfung zur Publikation in Scopus

MarLand: Automated take-off and landing of unmanned vehicles from Belgian Navy vessels
De cubber, G. (Leitende(r) Forscher/-in), Janssens, B. (Leitende(r) Forscher/-in) & Nguyên, T. (Forschende)
1/09/20 → 31/08/25
Projekt: Forschung › Research

Dieses zitieren

Dutrannois, T., Nguyen, T. T., Hamesse, C., De Cubber, G., & Janssens, B. (2022). Visual SLAM for Autonomous Drone Landing on a Maritime Platform. in Z. Taqvi, S. K. Fuchter, & G. G. Filho (Hrsg.), Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022 (Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISMCR56534.2022.9950582

Dutrannois, Thomas ; Nguyen, Tien Thanh ; Hamesse, Charles et al. / Visual SLAM for Autonomous Drone Landing on a Maritime Platform. Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022. Hrsg. / Zafar Taqvi ; Simone Keller Fuchter ; Geraldo Gurgel Filho. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022).

@inproceedings{0ac92f1e644b41f49df06f2804afbac3,

title = "Visual SLAM for Autonomous Drone Landing on a Maritime Platform",

abstract = "Ship deck landing of Unmanned Aerial Vehicles (UAVs/drones) in different kinds of environmental conditions remains a bottleneck for the widespread deployment of UAVs for maritime operations. For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing phase. The visual SLAM algorithm ORBSLAM3 [1] was selected after benchmarking with multiple state-of-the-art visual SLAM and Visual Odometry (VO) algorithms with the EuRoC dataset [2]. It was evaluated for a simulated landing scenario of a UAV at 16m height with a downward camera in multiple configurations with sufficient results in both speed and accuracy for the landing task.",

keywords = "UAV, maritime, synthetic data, visual SLAM",

author = "Thomas Dutrannois and Nguyen, \{Tien Thanh\} and Charles Hamesse and \{De Cubber\}, Geert and Bart Janssens",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 ; Conference date: 28-09-2022 Through 30-09-2022",

year = "2022",

doi = "10.1109/ISMCR56534.2022.9950582",

language = "English",

series = "Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Zafar Taqvi and Fuchter, \{Simone Keller\} and Filho, \{Geraldo Gurgel\}",

booktitle = "Proceedings - International Symposium on Measurement and Control in Robotics",

}

Dutrannois, T, Nguyen, TT , Hamesse, C , De Cubber, G & Janssens, B 2022, Visual SLAM for Autonomous Drone Landing on a Maritime Platform. in Z Taqvi, SK Fuchter & GG Filho (Hrsg.), Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022. Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022, Institute of Electrical and Electronics Engineers Inc., 25th International Symposium on Measurement and Control in Robotics, ISMCR 2022, Virtual, Online, USA/Vereinigte Staaten, 28/09/22. https://doi.org/10.1109/ISMCR56534.2022.9950582

Visual SLAM for Autonomous Drone Landing on a Maritime Platform. / Dutrannois, Thomas; Nguyen, Tien Thanh ; Hamesse, Charles et al.
Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022. Hrsg. / Zafar Taqvi; Simone Keller Fuchter; Geraldo Gurgel Filho. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

TY - GEN

T1 - Visual SLAM for Autonomous Drone Landing on a Maritime Platform

AU - Dutrannois, Thomas

AU - Nguyen, Tien Thanh

AU - Hamesse, Charles

AU - De Cubber, Geert

AU - Janssens, Bart

PY - 2022

Y1 - 2022

N2 - Ship deck landing of Unmanned Aerial Vehicles (UAVs/drones) in different kinds of environmental conditions remains a bottleneck for the widespread deployment of UAVs for maritime operations. For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing phase. The visual SLAM algorithm ORBSLAM3 [1] was selected after benchmarking with multiple state-of-the-art visual SLAM and Visual Odometry (VO) algorithms with the EuRoC dataset [2]. It was evaluated for a simulated landing scenario of a UAV at 16m height with a downward camera in multiple configurations with sufficient results in both speed and accuracy for the landing task.

AB - Ship deck landing of Unmanned Aerial Vehicles (UAVs/drones) in different kinds of environmental conditions remains a bottleneck for the widespread deployment of UAVs for maritime operations. For safe operation, the relative motion between the UAV and the pitching and rolling deck of a moving ship must be estimated accurately and in real-time. This paper presents a visual Simultaneous Localization and Mapping (SLAM) method for real-time motion estimation of the UAV with respect to its confined landing area on a maritime platform during landing phase. The visual SLAM algorithm ORBSLAM3 [1] was selected after benchmarking with multiple state-of-the-art visual SLAM and Visual Odometry (VO) algorithms with the EuRoC dataset [2]. It was evaluated for a simulated landing scenario of a UAV at 16m height with a downward camera in multiple configurations with sufficient results in both speed and accuracy for the landing task.

KW - UAV

KW - maritime

KW - synthetic data

KW - visual SLAM

UR - https://www.scopus.com/pages/publications/85143836526

U2 - 10.1109/ISMCR56534.2022.9950582

DO - 10.1109/ISMCR56534.2022.9950582

M3 - Conference contribution

AN - SCOPUS:85143836526

T3 - Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022

BT - Proceedings - International Symposium on Measurement and Control in Robotics

A2 - Taqvi, Zafar

A2 - Fuchter, Simone Keller

A2 - Filho, Geraldo Gurgel

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 25th International Symposium on Measurement and Control in Robotics, ISMCR 2022

Y2 - 28 September 2022 through 30 September 2022

ER -

Dutrannois T, Nguyen TT , Hamesse C , De Cubber G , Janssens B. Visual SLAM for Autonomous Drone Landing on a Maritime Platform. in Taqvi Z, Fuchter SK, Filho GG, Hrsg., Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (Proceedings - International Symposium on Measurement and Control in Robotics: Robotics and Virtual Tools for a New Era, ISMCR 2022). doi: 10.1109/ISMCR56534.2022.9950582

Visual SLAM for Autonomous Drone Landing on a Maritime Platform

Abstract

Publikationsreihe

Konferenz

Zugriff auf Dokument

Andere Dateien und Links

Fingerprint

Projekte

MarLand: Automated take-off and landing of unmanned vehicles from Belgian Navy vessels

Dieses zitieren