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

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

Samenvatting

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.

Originele taal-2	Engels
Titel	Proceedings - International Symposium on Measurement and Control in Robotics
Subtitel	Robotics and Virtual Tools for a New Era, ISMCR 2022
Redacteuren	Zafar Taqvi, Simone Keller Fuchter, Geraldo Gurgel Filho
Uitgeverij	Institute of Electrical and Electronics Engineers Inc.
ISBN van elektronische versie	9781665454964
DOI's	https://doi.org/10.1109/ISMCR56534.2022.9950582
Status	Gepubliceerd - 2022
Evenement	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022 - Virtual, Online, Verenigde Staten van Amerika Duur: 28 sep. 2022 → 30 sep. 2022

Publicatie series

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

Congres

Congres	25th International Symposium on Measurement and Control in Robotics, ISMCR 2022
Land/Regio	Verenigde Staten van Amerika
Stad	Virtual, Online
Periode	28/09/22 → 30/09/22

Toegang tot document

10.1109/ISMCR56534.2022.9950582

Andere bestanden en links

Link naar publicatie in Scopus

MarLand: Automated take-off and landing of unmanned vehicles from Belgian Navy vessels
De cubber, G. (Promotor), Janssens, B. (Promotor) & Nguyên, T. (Onderzoeker)
1/09/20 → 31/08/25
Project: Onderzoek

Citeer dit

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 (editors), 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. redacteur / 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).

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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",

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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.",

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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 (uitgave), 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, Verenigde Staten van Amerika, 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. uitgave / 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).

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/Congresprocedure › Conferentiebijdrage › peer review

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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.

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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.

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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, redacteurs, 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

Samenvatting

Publicatie series

Congres

Toegang tot document

Andere bestanden en links

Vingerafdruk

Projecten

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

Citeer dit