UAV altitude and attitude stabilisation using a coaxial stereo vision system

Moore, Richard J. D., Thurrowgood, Saul, Bland, Daniel, Soccol, Dean and Srinivasan, Mandyam V. (2010). UAV altitude and attitude stabilisation using a coaxial stereo vision system. In: 2010 IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), Anchorage, AK, U.S.A., (29-34). 3-8 May 2010. doi:10.1109/ROBOT.2010.5509465


Author Moore, Richard J. D.
Thurrowgood, Saul
Bland, Daniel
Soccol, Dean
Srinivasan, Mandyam V.
Title of paper UAV altitude and attitude stabilisation using a coaxial stereo vision system
Conference name IEEE International Conference on Robotics and Automation (ICRA)
Conference location Anchorage, AK, U.S.A.
Conference dates 3-8 May 2010
Proceedings title 2010 IEEE International Conference on Robotics and Automation (ICRA)   Check publisher's open access policy
Journal name IEEE International Conference on Robotics and Automation   Check publisher's open access policy
Place of Publication Washington, DC, U.S.A.
Publisher I E E E Computer Society
Publication Year 2010
Sub-type Fully published paper
DOI 10.1109/ROBOT.2010.5509465
ISBN 9781424450381
ISSN 2152-4092
Start page 29
End page 34
Total pages 6
Collection year 2011
Language eng
Abstract/Summary This study describes a novel, vision-based system for guidance of UAVs. The system uses two coaxially aligned cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a cylindrical co-ordinate system that simplifies and speeds up range computations, and defines a collision-free cylinder through which the aircraft can pass without encountering obstacles. We describe an approach, using this vision system, in which the attitude and altitude of an aircraft can be controlled directly, making the system particularly suited to terrain following, obstacle avoidance, and landing. The autonomous guidance of an aircraft performing a terrain following task using the system is demonstrated in field tests. © Copyright 2011 IEEE – All Rights Reserved
Keyword Optic flow
Guidance
Aircraft
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ

 
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Created: Sun, 19 Dec 2010, 10:17:28 EST