P. Campoy

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– This paper explores the possibilities to use robust object tracking algorithms based on visual model features as generator of visual references for UAV control. A Scale Invariant Feature Transform (SIFT) algorithm is used for detecting the salient points at every processed image, then a projective transformation for evaluating the visual references is(More)
INTRODUCTION Urinary symptoms in Parkinson's disease (PD) are minor but disabling. We have analyzed correlation of urinary symptoms with motor symptoms, duration and severity of PD and urodynamic abnormalities observed. Response to treatment with tolterodine was also assessed. METHODS PD male patients with a score in IPSS questionnaire over 7 and female(More)
— We present the design and implementation of a vision based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of the features (urban features like windows) with respect to the helicopter. These reference signals are then combined with GPS to navigate towards these features and then track(More)
Unmanned Aerial Vehicles (UAVs) are fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors. Until UAVs demonstrate advance capabilities such as autonomous collision they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for(More)
This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the color information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV,(More)
This paper presents a novel robust visual tracking framework, based on discrimi-native method, for Unmanned Aerial Vehicles (UAVs) to track an arbitrary 2D/3D target at real-time frame rates, that is called the Adaptive Multi-Classifier Multi-Resolution (AMCMR) framework. In this framework, adaptive Multiple Classifiers (MC) are updated in the (k-1)th(More)
This paper presents a vision based autonomous landing control approach for unmanned aerial vehicles (UAV). The 3D position of an unmanned helicopter is estimated based on the homographies estimated of a known landmark. The translation and altitude estimation of the helicopter against the helipad position are the only information that is used to control the(More)
The objective of this paper is to design a path following control system for a car-like mobile robot using classical linear control techniques, so that it adapts on-line to varying conditions during the trajectory following task. The main advantages of the proposed control structure is that well known linear control theory can be applied in calculating the(More)
— This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the(More)