The recent interest in the use of machine vision for flight vehicle guidance is motivated by the need to automate the nap-of-the-earth flight regime of helicopters. Vision-based stereo ranging problem is cast as an optimal control problem in this paper. A quadratic performance index consisting of the integral of the error between observed image irradiances and those predicted by a Pade approximation of the correspondence hypothesis is then used to define an optimization problem. The necessary conditions for optimality yield a set of linear two-point boundary-value problems. These two-point boundary-value problems are solved in feedback form using a version of the backward sweep method. Application of the ranging algorithm is illustrated using a laboratory image pair.


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    Titel :

    Vision-based stereo ranging as an optimal control problem


    Beteiligte:
    Menon, P. K. A. (Autor:in) / Sridhar, B. (Autor:in) / Chatterji, G. B. (Autor:in)

    Kongress:

    AIAA Guidance, Navigation and Control Conference ; 1992 ; Hilton Head Island, SC, United States


    Erscheinungsdatum :

    01.01.1992


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch




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