Performance Evaluation of Vision-Based Navigation and Landing on a Rotorcraft Unmanned Aerial Vehicle
unmanned aerial vehicle, UAV, rotorcraft, position estimation
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.
Physical and Mathematical Sciences
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