This paper presents a visual odometer for autonomous helicopter flight. The odometer estimates helicopter position by visually locking on to and tracking ground objects. The paper describes the philosophy behind the odometer as well as its tracking algorithm and implementation. The paper concludes by presenting test flight data of the odometer's performance on-board indoor and outdoor prototype autonomous helicopters.


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    Title :

    A visual odometer for autonomous helicopter flight


    Additional title:

    Ein visuelles Positionsbestimmungssystem für Flüge mit unbemannten Hubschraubern


    Contributors:
    Amidi, O. (author) / Kanade, T. (author) / Fujita, K. (author)

    Published in:

    Publication date :

    1999


    Size :

    9 Seiten, 9 Bilder, 6 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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