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

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Proceedings - International Symposium on Measurement and Control in Robotics
Subtitle of host publication	Robotics and Virtual Tools for a New Era, ISMCR 2022
Editors	Zafar Taqvi, Simone Keller Fuchter, Geraldo Gurgel Filho
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665454964
DOIs	https://doi.org/10.1109/ISMCR56534.2022.9950582
Publication status	Published - 2022
Event	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 - Virtual, Online, United States Duration: 28 Sept 2022 → 30 Sept 2022

Publication series

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

Conference

Conference	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022
Country/Territory	United States
City	Virtual, Online
Period	28/09/22 → 30/09/22

Keywords

UAV
maritime
synthetic data
visual SLAM

Access to Document

10.1109/ISMCR56534.2022.9950582

Cite this

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 (Eds.), 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. editor / 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 (eds), 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, United States, 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. ed. / 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).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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 - http://www.scopus.com/inward/record.url?scp=85143836526&partnerID=8YFLogxK

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, editors, 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

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

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

Cite this

Visual SLAM for Autonomous Drone Landing on a Maritime Platform

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Projects

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

Cite this