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Export Reference (APA) 
Silva, A., Mendonça, R. & Santana, P. (2020). Monocular trail detection and tracking aided by visual SLAM for small unmanned aerial vehicles. Journal of Intelligent and Robotic Systems. 97 (3-4), 531-551
Export Reference (IEEE) 
A. Silva et al.,  "Monocular trail detection and tracking aided by visual SLAM for small unmanned aerial vehicles", in Journal of Intelligent and Robotic Systems, vol. 97, no. 3-4, pp. 531-551, 2020
Export BibTeX 
@article{silva2020_1764940624686,
	author = "Silva, A. and Mendonça, R. and Santana, P.",
	title = "Monocular trail detection and tracking aided by visual SLAM for small unmanned aerial vehicles",
	journal = "Journal of Intelligent and Robotic Systems",
	year = "2020",
	volume = "97",
	number = "3-4",
	doi = "10.1007/s10846-019-01033-x",
	pages = "531-551",
	url = "https://link.springer.com/article/10.1007%2Fs10846-019-01033-x#citeas"
}
Export RIS 
TY  - JOUR
TI  - Monocular trail detection and tracking aided by visual SLAM for small unmanned aerial vehicles
T2  - Journal of Intelligent and Robotic Systems
VL  - 97
IS  - 3-4
AU  - Silva, A.
AU  - Mendonça, R.
AU  - Santana, P.
PY  - 2020
SP  - 531-551
SN  - 0921-0296
DO  - 10.1007/s10846-019-01033-x
UR  - https://link.springer.com/article/10.1007%2Fs10846-019-01033-x#citeas
AB  - This article addresses the navigation problem of small and medium-sized unmanned aerial vehicles (UAVs) built to perform missions in forest environments (e.g., search and rescue) by exploiting the presence of natural or man-made paths, typically present in this type of environments. The proposed system extends a previous monocular-based technique for trail detection and tracking so as to take into account volumetric data acquired from a Visual SLAM algorithm and, as a result, to increase its sturdiness upon challenging trails. The experimental results, obtained via a set of 12 videos recorded with a camera installed in a tele-operated, unmanned small-sized aerial vehicle, show the ability of the proposed system to overcome some of the difficulties of the original detector, attaining a success rate of 97.8%.
ER  -