NDLI: Vision-Based Recursive Estimation of Rotorcraft Obstacle Locations

Content Provider	IEEE Xplore Digital Library
Author	LeBlanc, D. J. McClanroch, N. H.
Copyright Year	1992
Description	Author affiliation: Aerospace Engineering Department, The University of Michigan, Ann Arbor, Michigan 48109-2122 (LeBlanc, D. J.; McClanroch, N. H.)
Abstract	Development of an onboard obstacle detection and estimation scheme for low altitude rotorcraft fight is necessary both for the development of pilot warning system and as a step toward achiving fully autonomous flight. Vision sensors provide passive sensing of obstacles, and allow a wide field of view and nearly infinite range with relatively low cat. We consider the problem of estimating the relative location of identifiable features on nearby obstacles, assuming a sequence of noisy camera images and imperfect measurements of the camera's translation and rotation. An iterated extended Kalman filter is used to provide recursive range estimation; the correspondence problem is simplified by predicting and tracking each feature's image within the Kalman filter framework. Simulation results are presented which show convergent estimates and generally successful feature point tracking. Estimation performance degrades for features near the optical axis and for accelerating motions; image tracking is also sensitive to angular rate. Our approach is also applicable to other vision-based obstacle detection and estimation problems.
Starting Page	937
Ending Page	942
File Size	435339
Page Count	6
File Format	PDF
ISBN	0780302109
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1992-06-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Recursive estimation Cameras Alarm systems Rotation measurement Image converters Motion estimation Degradation Optical filters Optical sensors Acceleration
Content Type	Text
Resource Type	Article

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