NDLI: A new real time environment perception method based on visual image for micro UAS flight control

Content Provider	IEEE Xplore Digital Library
Author	Hanchen Lu Feng Zhang Jiang Wu
Copyright Year	2014
Description	Author affiliation: Sci. & Technol. on Aircraft Control Lab., Beihang Univ., Beijing, China (Hanchen Lu; Feng Zhang; Jiang Wu)
Abstract	Recently, it has been a popular issue that using visual perception for autonomous navigation in Unmanned Aerial Vehicle (UAV). However, in the field of computer vision, the restoration of the three-dimensional shape from the two-dimensional image video stream captured by camera is the central issue, which includes the feature point selection, tracking studies, and structural problems of uncalibrated image sequences, motion inference structure technology as well as Structure from Motion technology (SMF). In theory, a variety of innovative features pixel selection method and tracking methods have been excavated, for multi-angle geometry, projective reconstruction, the fundamental matrix camera self-calibration technique are estimated to have a considerable development. In application, with the full demonstration of the practicability of UAV, various techniques emerge one after another, aiming at autonomous navigation. Many of the applicable fields have demanding requirements to three-dimensional graphic data. How to obtain the exact three-dimensional environmental information timely have become the current topics. The fact is that in actual flights, the flying area of small UAV is comparatively very complex. For insurance of normality, we have to make the small UAV compute quickly so as to produce quick reaction to the unknown terrain. However, the current small UAV are generally with a small computing capacity and a low computing ability. To assure the normal flights of small UAV, currently we have to lessen the navigation accuracy for exchange of the quick computation. The thesis firstly analyzes the existing advantages and disadvantages of the small UAV. Based on the current techniques, the approximal tracking algorithm has been extracted, which is the most appropriate to the current need. The remaining topics will be discussed in future studies.
Starting Page	2515
Ending Page	2519
File Size	366246
Page Count	5
File Format	PDF
ISBN	9781479947003
e-ISBN	9781479946990
DOI	10.1109/CGNCC.2014.7007563
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Simultaneous localization and mapping Tracking Video sequences Streaming media Feature extraction Cameras Educational institutions
Content Type	Text
Resource Type	Article

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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
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