A method for the visual estimation and control of 3-DOF attitude for UAVs

Moore, Richard J. D., Thurrowgood, Saul, Soccol, Dean, Bland, Daniel and Srinivasan, Mandyam V. (2011). A method for the visual estimation and control of 3-DOF attitude for UAVs. In: ACRA 2011 Proceedings. Australasian Conference on Robotics and Automation (ACRA 2011), Melbourne, Australia, (1-9). 7-9 December 2011.

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Name Description MIMEType Size Downloads
Author Moore, Richard J. D.
Thurrowgood, Saul
Soccol, Dean
Bland, Daniel
Srinivasan, Mandyam V.
Title of paper A method for the visual estimation and control of 3-DOF attitude for UAVs
Language of Title eng
Conference name Australasian Conference on Robotics and Automation (ACRA 2011)
Conference location Melbourne, Australia
Conference dates 7-9 December 2011
Proceedings title ACRA 2011 Proceedings
Journal name Proceedings of the 2011 Australasian Conference on Robotics and Automation
Place of Publication Melbourne, Australia
Publisher Monash University
Publication Year 2011
Year available 2011
Sub-type Fully published paper
ISBN 9780980740424
Start page 1
End page 9
Total pages 9
Collection year 2012
Language eng
Abstract/Summary This study describes a novel, vision-based method for automatically obtaining the 3-DOF attitude of an aircraft. A very wide-angle view of the environment is captured and the input images are classied into fuzzy sky and ground regions using the spectral and intensity properties of the pixels. A novel approach to obtaining the 2-DOF attitude of the aircraft from the classied images is described, which is used to generate a stabilised panoramic image of the horizon and sky. This `visual compass' is then used to determine the heading direction of the aircraft. We present results from recent flight testing that demonstrates the abilty of this vision-based approach to outperform an inexpensive inertial unit and provide real-time guidance for a UAV.
Q-Index Code E1
Q-Index Status Confirmed Code
Institutional Status UQ

Document type: Conference Paper
Collections: Queensland Brain Institute Publications
Official 2012 Collection
 
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Created: Tue, 06 Mar 2012, 15:40:00 EST by Debra McMurtrie on behalf of Queensland Brain Institute