# VisGeo-PipeTrack: A visual-geometric servo control framework for UAV dynamic pipe tracking

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/gfdd0vnztil3m7uzsz0iohu09
- Original: https://arxiv.org/abs/2610.35342

## Summary

The paper proposes the VisGeo-PipeTrack servo control framework, which uses YOLOv5 to detect pipe labels and combines visual geometric constraints for localization, enabling UAVs to track pipes with dynamic motion such as vibration. On the control side, it adopts a model predictive control-based real-time corrected adaptive PID (MPC-RCAPID), which estimates the model online via recursive least squares and adjusts PID parameters through rolling optimization.