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Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection

Automation Department, Technical University of Cluj-Napoca, Memorandumului Street no. 28, 400114 Cluj-Napoca, Romania
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Academic Editor: Felipe Gonzalez Toro
Sensors 2015, 15(7), 14887-14916; https://doi.org/10.3390/s150714887
Received: 27 December 2014 / Revised: 20 May 2015 / Accepted: 26 May 2015 / Published: 25 June 2015
(This article belongs to the Special Issue UAV Sensors for Environmental Monitoring)
Unmanned aerial vehicles (UAVs) have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations. View Full-Text
Keywords: unmanned aerial vehicle; control; planning; camera-based sensing; infrastructure inspection unmanned aerial vehicle; control; planning; camera-based sensing; infrastructure inspection
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MDPI and ACS Style

Máthé, K.; Buşoniu, L. Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection. Sensors 2015, 15, 14887-14916. https://doi.org/10.3390/s150714887

AMA Style

Máthé K, Buşoniu L. Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection. Sensors. 2015; 15(7):14887-14916. https://doi.org/10.3390/s150714887

Chicago/Turabian Style

Máthé, Koppány, and Lucian Buşoniu. 2015. "Vision and Control for UAVs: A Survey of General Methods and of Inexpensive Platforms for Infrastructure Inspection" Sensors 15, no. 7: 14887-14916. https://doi.org/10.3390/s150714887

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