Effective target aware visual navigation for UAVs

@article{Potena2017EffectiveTA,
  title={Effective target aware visual navigation for UAVs},
  author={Ciro Potena and Daniele Nardi and Alberto Pretto},
  journal={2017 European Conference on Mobile Robots (ECMR)},
  year={2017},
  pages={1-7}
}
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques such as Position-Based Visual Servoing (PBVS) and Image-Based Visual Servoing (IBVS) in some cases (e.g., while the multirotor is performing fast maneuvers) do not allow to constantly maintain the line of sight with a target of interest. Instead, we compute the… Expand
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