TY - GEN
T1 - Vision-based UAV flight control and obstacle avoidance
AU - He, Zhihai
AU - Iyer, Ram Venkataraman
AU - Chandler, Phillip R.
PY - 2006
Y1 - 2006
N2 - In this work, we explore various ideas and approaches to deal with the inherent uncertainty and image noise in motion analysis, and develop a low-complexity, accurate and reliable scheme to estimate the motion fields from UAV navigation videos. The motion field information allows us to accurately estimate ego-motion parameters of the UAV and refine (or correct) the motion measurements from other sensors. Based on the motion field information, we also compute the range map for objects in the scene. Once we have accurate knowledge about the vehicle motion and its navigation environment (range map), control and guidance laws can be designed to navigate the UAV between way points and avoid obstacles.
AB - In this work, we explore various ideas and approaches to deal with the inherent uncertainty and image noise in motion analysis, and develop a low-complexity, accurate and reliable scheme to estimate the motion fields from UAV navigation videos. The motion field information allows us to accurately estimate ego-motion parameters of the UAV and refine (or correct) the motion measurements from other sensors. Based on the motion field information, we also compute the range map for objects in the scene. Once we have accurate knowledge about the vehicle motion and its navigation environment (range map), control and guidance laws can be designed to navigate the UAV between way points and avoid obstacles.
UR - http://www.scopus.com/inward/record.url?scp=34047224910&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:34047224910
SN - 1424402107
SN - 9781424402106
T3 - Proceedings of the American Control Conference
SP - 2166
EP - 2170
BT - Proceedings of the 2006 American Control Conference
Y2 - 14 June 2006 through 16 June 2006
ER -