Keywords
unmanned aerial vehicle, UAV, rotorcraft, position estimation
Abstract
A Rotorcraft UAV provides an ideal experimental platform for vision-based navigation. This paper describes the flight tests of the US Army PALACE project, which implements Moravec’s pseudo-normalized correlation tracking algorithm. The tracker uses the movement of the landing site in the camera, a laser range, and the aircraft attitude from an IMU to estimate the relative motion of the UAV. The position estimate functions as a GPS equivalent to enable the rotorcraft to maneuver without the aid of GPS. With GPS data as a baseline, tests were performed in simulation and in flight that measure the accuracy of the position estimation.
Original Publication Citation
D. Hubbard, B. Morse, C. Theodore, M. Tischler, and T. McLain, "Performance evaluation of vision-based navigation and landing on a rotorcraft unmanned aerial vehicle," in WACV '7: Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision, IEEE Computer Society, February 27.
BYU ScholarsArchive Citation
Hubbard, David; McLain, Timothy W.; Morse, Bryan S.; Theodore, Colin; and Tischler, Mark, "Performance Evaluation of Vision-Based Navigation and Landing on a Rotorcraft Unmanned Aerial Vehicle" (2007). Faculty Publications. 274.
https://scholarsarchive.byu.edu/facpub/274
Document Type
Peer-Reviewed Article
Publication Date
2007-02-01
Permanent URL
http://hdl.lib.byu.edu/1877/2485
Publisher
IEEE
Language
English
College
Physical and Mathematical Sciences
Department
Computer Science
Copyright Status
© 2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Copyright Use Information
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