In this paper we propose a new control method for quadrotor autonomous
landing on a visual target... more In this paper we propose a new control method for quadrotor autonomous landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing pad from a down-looking camera, along with data from an Inertial Measurement Unit's gyro, are used. The control system consists of an image-based nonlinear observer that estimates online the linear velocity of the vehicle and a backstepping image-based controller that generates attitude, and thrust setpoints to the quadrotor autopilot. Both observer and controller share the same feedback information: spherical visual features. Therefore no further image elaboration is needed for the estimation. This, along with the fact that only simple computations on low- and constant-dimension arrays are involved, makes the proposed solution computationally cheap. Real-hardware experiments on a quadrotor are carried out to verify the validity of the proposed control system.
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2008
We propose a new visual servo approach to automatically control in real-time the full motion of a... more We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.
2008 IEEE International Conference on Robotics and Automation, 2008
A new visual servoing method based on B-mode ultrasound images is proposed to automatically contr... more A new visual servoing method based on B-mode ultrasound images is proposed to automatically control the motion of a 2D ultrasound probe held by a medical robot in order to reach a desired B-scan image of an object of interest. In this approach, combinations of image moments extracted from the current observed object cross-section are used as feedback visual features.
In this paper we propose a new control method for quadrotor autonomous
landing on a visual target... more In this paper we propose a new control method for quadrotor autonomous landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing pad from a down-looking camera, along with data from an Inertial Measurement Unit's gyro, are used. The control system consists of an image-based nonlinear observer that estimates online the linear velocity of the vehicle and a backstepping image-based controller that generates attitude, and thrust setpoints to the quadrotor autopilot. Both observer and controller share the same feedback information: spherical visual features. Therefore no further image elaboration is needed for the estimation. This, along with the fact that only simple computations on low- and constant-dimension arrays are involved, makes the proposed solution computationally cheap. Real-hardware experiments on a quadrotor are carried out to verify the validity of the proposed control system.
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, 2008
We propose a new visual servo approach to automatically control in real-time the full motion of a... more We propose a new visual servo approach to automatically control in real-time the full motion of a 2D ultrasound (US) probe held by a medical robot in order to reach a desired image of motionless soft tissue object in B-mode ultrasound imaging. Combinations of image moments of the observed object cross-section are used as feedback information in the visual control scheme. These visual features are extracted in real-time from the US image thanks to a fast image segmentation method. Simulations performed with a static US volume containing an egg-shaped object, and ex-vivo experiments using a robotized US probe that interacts with a motionless rabbit heart immersed in water, show the validity of this new approach and its robustness to different perturbations. This method shows promise for a variety of US-guided medical interventions that require real-time servoing.
2008 IEEE International Conference on Robotics and Automation, 2008
A new visual servoing method based on B-mode ultrasound images is proposed to automatically contr... more A new visual servoing method based on B-mode ultrasound images is proposed to automatically control the motion of a 2D ultrasound probe held by a medical robot in order to reach a desired B-scan image of an object of interest. In this approach, combinations of image moments extracted from the current observed object cross-section are used as feedback visual features.
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Papers by Rafik Mebarki
landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing
pad from a
down-looking camera, along with data from an Inertial Measurement Unit's
gyro, are used. The control system consists of an image-based nonlinear observer that
estimates online the linear velocity of the vehicle and a
backstepping image-based controller that generates attitude, and
thrust setpoints to the quadrotor autopilot. Both observer and
controller share the same feedback information: spherical visual
features. Therefore no further image elaboration is needed for the
estimation. This, along with the fact that only simple computations on low-
and constant-dimension arrays are involved, makes the proposed
solution computationally cheap. Real-hardware experiments on a
quadrotor are carried out to verify the validity of the proposed
control system.
landing on a visual target without linear velocity measurements. Only onboard sensing is exploited, such that only the images of the landing
pad from a
down-looking camera, along with data from an Inertial Measurement Unit's
gyro, are used. The control system consists of an image-based nonlinear observer that
estimates online the linear velocity of the vehicle and a
backstepping image-based controller that generates attitude, and
thrust setpoints to the quadrotor autopilot. Both observer and
controller share the same feedback information: spherical visual
features. Therefore no further image elaboration is needed for the
estimation. This, along with the fact that only simple computations on low-
and constant-dimension arrays are involved, makes the proposed
solution computationally cheap. Real-hardware experiments on a
quadrotor are carried out to verify the validity of the proposed
control system.