Open Science Research Excellence

Paul Y Oh

Publications

2

Publications

2
1626
CQAR: Closed Quarter Aerial Robot Design for Reconnaissance, Surveillance and Target Acquisition Tasks in Urban Areas
Abstract:
This paper describes a prototype aircraft that can fly slowly, safely and transmit wireless video for tasks like reconnaissance, surveillance and target acquisition. The aircraft is designed to fly in closed quarters like forests, buildings, caves and tunnels which are often spacious but GPS reception is poor. Envisioned is that a small, safe and slow flying vehicle can assist in performing dull, dangerous and dirty tasks like disaster mitigation, search-and-rescue and structural damage assessment.
Keywords:
Unmanned aerial vehicles, autonomous collisionavoidance, optic flow, near-Earth environments
1
3370
Enhancing Camera Operator Performance with Computer Vision Based Control
Abstract:

Cameras are often mounted on platforms that canmove like rovers, booms, gantries and aircraft. People operate suchplatforms to capture desired views of scene or target. To avoidcollisions with the environment and occlusions, such platforms oftenpossess redundant degrees-of-freedom. As a result, manipulatingsuch platforms demands much skill. Visual-servoing some degrees-of-freedom may reduce operator burden and improve tracking per-formance. This concept, which we call human-in-the-loop visual-servoing, is demonstrated in this paper and applies a Α-β-γ filter and feedforward controller to a broadcast camera boom.

Keywords:
Computer vision, visual-servoing, man-machine sys-tems, human-in-the-loop control