NDLI: Vision-based horizon extraction for micro air vehicle flight control

Content Provider	IEEE Xplore Digital Library
Author	Gui-Qiu Bao Shen-Shu Xiong Zhao-Ying Zhou
Copyright Year	1963
Abstract	Recently, more and more research has been done on micro air vehicles (MAVs). An autonomous flight control system is necessary for developing practical MAVs to be used for a wide array of missions. Due to the limitations of size, weight, and power, MAVs have the very low payload capacity and moments of inertia. The current technologies with rate and acceleration sensors applied on larger aircrafts are impractical to MAVs, and they are difficult to be scaled down to satisfy the demands of MAVs. Since surveillance has been considered as the primary mission of MAVs, it is essential for MAVs to be equipped with on-board imaging sensors such as cameras, which have rich information content. So vision-based techniques, without increasing the MAVs payload, may be a feasible idea for flight autonomy of MAVs. In this paper, a new robust horizon extraction algorithm based on the orientation projection method is proposed, which is the foundation of a vision-based flight control system. The horizon extraction algorithm is effective for both color images and gray images. The horizon can be extracted not only from fine images captured in fair conditions but also from blurred images captured in cloudy, even foggy days. In order to raise the computational speed to meet real-time requirements, the algorithmic optimization is also discussed in the paper, which is timesaving by narrowing the seeking scope of orientations and adopting the table look-up method. According to the orientation and position of the horizon in the image, two important angular attitude parameters for stability and control, the roll angle and the pitch angle, could be calculated. Several experimental results demonstrate the feasibility and robustness of the algorithm.
Sponsorship	IEEE Instrumentation and Measurement Society Bureau international des poids et mesures IEEE International Bureau of Weights and Measures (BIPM) URSI NBS Agency Ind. Sci. & Technol., Min. Int. Trade & Ind. Sci. Council Japan International Union of Pure and Applied Physics (IUPAP) NIST NRCC National Conference of Standards Laboratories (NCSL) Allen Osborne Associates Andeen-Hagerling, Inc. Ballantine Lab. Inc. Clarke-Hess Communications Research Corp. Fluke Corporation Guildline Instruments Hewlett-Packard Co. Julie Res. Lab. Inc. Keithley Instruments, Inc. Measurements International Ltd. Canada QuadTech Inc. Quantum Design Inc. Rotek Instrum. Corp. Tegam Inc. Tektronix Inc
Starting Page	1067
Ending Page	1072
Page Count	6
File Size	648818
File Format	PDF
ISSN	00189456
Volume Number	54
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aerospace control Remotely operated vehicles Payloads Data mining Acceleration Aircraft Surveillance Image sensors Cameras Robust control vision Control horizon extraction micro air vehicles (MAVs)
Content Type	Text
Resource Type	Article
Subject	Instrumentation Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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