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Stereo visual system for autonomous air vehicle navigation

Mejias, Luis, Campoy, Pascual, Mondragon, Ivan, Doherty, Patrick, & Correa, Juan F. (2007) Stereo visual system for autonomous air vehicle navigation. In Proceedings of the 6th IFAC Symposium on Intelligent Autonomous Vehicles, Elsevier and IFAC, Toulouse, France, pp. 203-208.

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Abstract

We present a system to estimate the altitude and motion of an aerial vehicle using a stereo visual system. The system has been initially tested on a ground robot and the novelty lays on its application and robustness validation in an UAV, where vibrations and rapid environmental changes take place. The two main functionalities are height estimation and visual odometry. The system first detects and tracks salient points in the scene. Depth to the plane containing the features is calculated matching features between left and right images then using the disparity principle. Motion is recovered tracking pixels from one frame to the next one finding its visual displacement and resolving camera rotation and translation by a least-square method. We present results from different experimental trials on the two platforms comparing and discussing the results regarding the tra jectories calculated by the visual odometry and the onboard helicopter state estimation.

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ID Code: 9310
Item Type: Conference Paper
Additional Information: For more information, please refer to the conference's website (see hypertext link) or contact the author. Author contact details: luis.mejiasalvarez@qut.edu.au
Keywords: Autonomous Helicopter, Vision, Based Navigation
ISBN: 978-1-61782-875-1
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100)
Divisions: Current > Research Centres > Australian Research Centre for Aerospace Automation
Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Copyright Owner: Copyright 2007 Elsevier
Copyright Statement: Reproduced in accordance with the copyright policy of the publisher.
Deposited On: 04 Sep 2007
Last Modified: 28 May 2012 10:56

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