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

Ram V. Iyer, Zhihai He, Phillip R. Chandler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2006 American Control Conference
Pages2554-2559
Number of pages6
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Conference

Conference2006 American Control Conference
CountryUnited States
CityMinneapolis, MN
Period06/14/0606/16/06

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    Iyer, R. V., He, Z., & Chandler, P. R. (2006). On the computation of the ego-motion and distance to obstacles for a micro air vehicle. In Proceedings of the 2006 American Control Conference (pp. 2554-2559). [1656607] (Proceedings of the American Control Conference; Vol. 2006).