TY - GEN

T1 - On the computation of the ego-motion and distance to obstacles for a micro air vehicle

AU - Iyer, Ram V.

AU - He, Zhihai

AU - Chandler, Phillip R.

PY - 2006

Y1 - 2006

N2 - In this paper, we have considered the problem of velocity and range estimation for an UAV using a camera and the knowledge of linear speed through a GPS device. In earlier work [1], a method for decomposition of a scene into structure blocks, and finding correspondences between such blocks in successive frames was developed. The result of this low-level image processing is (a) a set of structure blocks; (b) the motion of each structure block; and (c) a reliability index between zero and one denoting the confidence of the solution in (b). Here, we show that by solving a constrained optimization problem set up using the results of the image processing, one can obtain the linear and angular velocity of the camera motion, provided the speed of the linear motion is known. Once the velocity parameters is computed, we show how the range to objects in the field of view can be computed.

AB - In this paper, we have considered the problem of velocity and range estimation for an UAV using a camera and the knowledge of linear speed through a GPS device. In earlier work [1], a method for decomposition of a scene into structure blocks, and finding correspondences between such blocks in successive frames was developed. The result of this low-level image processing is (a) a set of structure blocks; (b) the motion of each structure block; and (c) a reliability index between zero and one denoting the confidence of the solution in (b). Here, we show that by solving a constrained optimization problem set up using the results of the image processing, one can obtain the linear and angular velocity of the camera motion, provided the speed of the linear motion is known. Once the velocity parameters is computed, we show how the range to objects in the field of view can be computed.

UR - http://www.scopus.com/inward/record.url?scp=34047216090&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:34047216090

SN - 1424402107

SN - 9781424402106

T3 - Proceedings of the American Control Conference

SP - 2554

EP - 2559

BT - Proceedings of the 2006 American Control Conference

Y2 - 14 June 2006 through 16 June 2006

ER -