In autonomous navigation, it is essential to obtain a three-dimensional (3D) description of the static environment in which the vehicle is traveling. For a rotorcraft conducting low-latitude flight, this description is particularly useful for obstacle detection and avoidance. In this paper, we address the problem of 3D position estimation for static objects from a monocular sequence of images captured from a low-latitude flying helicopter. Since the environment is static, it is well known that the optical flow in the image will produce a radiating pattern from the focus of expansion. We propose a motion analysis system which utilizes the epipolar constraint to accurately estimate 3D positions of scene objects in a real world image sequence taken from a low-altitude flying helicopter. Results show that this approach gives good estimates of object positions near the rotorcraft's intended flight-path.


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    Titel :

    Accurate Estimation of Object Location in an Image Sequence Using Helicopter Flight Data


    Beteiligte:
    Y. Tang (Autor:in) / R. Kasturi (Autor:in)

    Erscheinungsdatum :

    1994


    Format / Umfang :

    11 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Accurate Estimation of Object Location in an Image Sequence Using Helicopter Flight Data

    Tang, Y.-L. / Kasturi, R. / Goddard Space Flight Center | British Library Conference Proceedings | 1994



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