NDLI: A comparison of two camera configurations for optic-flow based navigation of a UAV through urban canyons

Content Provider	IEEE Xplore Digital Library
Author	Hrabar, S. Sukhatme, G.S.
Copyright Year	2004
Description	Author affiliation: Dept. of Comput. Sci., Southern California Univ., Los Angeles, CA, USA (Hrabar, S.; Sukhatme, G.S.)
Abstract	We present a comparison of two camera configurations for avoiding obstacles in 3D-space using optic flow. The two configurations were developed for use on an autonomous helicopter, with the aim of enabling it to fly in environments with tall obstacles (e.g. urban canyons). The comparison is made based on real data captured from two sideways-looking cameras and an omnidirectional camera mounted onboard an autonomous helicopter. Optic flow information from the images is used to determine the relative distance to obstacles on each side of the helicopter. We show that on average, both camera configurations are equally effective and that they can be used to tell which of the canyon walls is closer with an accuracy of 74%. It is noted that each configuration is however more effective under certain conditions, and so a suitable hybrid approach is suggested. We also show that there is a linear relationship between the optic flow ratios and the position of the helicopter with respect to the center of the canyon. We use this relationship to develop a proportional control strategy for flying the helicopter along the Voronoi line between buildings.
Starting Page	2673
Ending Page	2680
File Size	635872
Page Count	8
File Format	PDF
ISBN	0780384636
DOI	10.1109/IROS.2004.1389812
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-09-28
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Unmanned aerial vehicles Helicopters Robot vision systems Image motion analysis Testing Aircraft navigation Avatars Embedded system Laboratories
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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