A vision-based strategy for autonomous aerial refueling tasks

C. Martinez, T. Richardson, Peter R. Thomas, J. L. du-Bois, P. Campoy

Research output: Contribution to journalArticlepeer-review

48 Citations (Scopus)


Autonomous aerial refueling is a key enabling technology for both manned and unmanned aircraft where extended flight duration or range are required. The results presented within this paper offer one potential vision-based sensing solution, together with a unique test environment. A hierarchical visual tracking algorithm based on direct methods is proposed and developed for the purposes of tracking a drogue during the capture stage of autonomous aerial refueling, and of estimating its 3D position. Intended to be applied in real time to a video stream from a single monocular camera mounted on the receiver aircraft, the algorithm is shown to be highly robust, and capable of tracking large, rapid drogue motions within the frame of reference. The proposed strategy has been tested using a complex robotic testbed and with actual flight hardware consisting of a full size probe and drogue. Results show that the vision tracking algorithm can detect and track the drogue at real-time frame rates of more than thirty frames per second, obtaining a robust position estimation even with strong motions and multiple occlusions of the drogue.
Original languageEnglish
Pages (from-to)876-895
Number of pages20
JournalRobotics and Autonomous Systems
Issue number8
Publication statusPublished - Aug 2013


  • Machine vision, Aerial refuelling


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