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Teleoperated visual inspection and surveillance with unmanned ground and aerial vehicles

: Surmann, H.; Holz, D.; Blumenthal, S.; Linder, T.; Molitor, P.; Tretyakov, V.

Volltext urn:nbn:de:0011-n-845223 (877 KByte PDF)
MD5 Fingerprint: aad51f46b5c9931c38ac2328614fed97
Erstellt am: 3.12.2008

International journal of online engineering. Online journal 4 (2008), Nr.4, S.26-38
ISSN: 1861-2121
Zeitschriftenaufsatz, Elektronische Publikation
Fraunhofer IAIS ()
USAR; Teleoperation; UGV; UAV; OCU; Visual attention; computer vision

This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration of the smart phone based on a RKIXML description of the vehicles control capabilities, (B) the camera and vision system with the focus to real time feature extraction e.g. for the tracking of the UAV and (C) the architecture and hardware of the UAV.