The automation of rotorcraft low-altitude flight presents challenging problems in control, computer vision and image understanding. A critical element in this problem is the ability to detect and locate obstacles, using on-board sensors, and modify the nominal trajectory. This requirement is also necessary for the safe landing of an autonomous lander on Mars. This paper examines some of the issues in the location of objects using a sequence of images from a passive sensor, and describes a Kalman filter approach to estimate the range to obstacles. The Kalman filter is also used to track features in the images leading to a significant reduction of search effort in the feature extraction step of the algorithm. The method can compute range for both straight line and curvilinear motion of the sensor. A laboratory experiment was designed to acquire a sequence of images along with sensor motion parameters under conditions similar to helicopter flight. Range estimation results using this imagery are presented.


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    Titel :

    Passive range estimation for rotorcraft low-altitude flight


    Beteiligte:
    Sridhar, B. (Autor:in) / Suorsa, R. (Autor:in) / Hussien, B. (Autor:in)

    Erscheinungsdatum :

    1991-10-01


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Passive range estimation for rotorcraft low-altitude flight

    Sridhar, B. / Suorsa, R. / Hussien, B. | British Library Online Contents | 1993



    Vision based techniques for rotorcraft low altitude flight

    Banavar Sridhar / Suorsa, R. / Smith, P. | Tema Archiv | 1991


    Computer vision techniques for rotorcraft low-altitude flight

    Sridhar, B. / Cheng, V.H.L. | Tema Archiv | 1988


    Vision based techniques for rotorcraft low altitude flight

    Sridhar, Banavar / Suorsa, Ray / Smith, Philip | NTRS | 1991