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Teleoperated visual inspection and surveillance with unmanned ground and aerial vehicles

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

Fulltext urn:nbn:de:0011-n-815187 (1.0 MByte PDF)
MD5 Fingerprint: f15dc41bcb0092f97881d8fae8fe53b6
Created on: 12.9.2008

Remote engineering and virtual instrumentation. Proceedings. CD-ROM : Rev 2008; Düsseldorf, 23-26 June 2008
Düsseldorf, 2008
10 pp.
Conference "Remote Engineering and Virtual Instrumentation" (REV) <5, 2008, Düsseldorf>
Conference Paper, Electronic Publication
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 vehicle 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.