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Performance Evaluation of Vision-Based Navigation and Landing on a Rotorcraft Unmanned Aerial Vehicle

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5 Author(s)
Hubbard, D. ; Dept. of Comput. Sci., Brigham Young Univ., Provo, UT ; Morse, B. ; Theodore, C. ; Tischler, M.
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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 inflight that measure the accuracy of the position estimation

Published in:

Applications of Computer Vision, 2007. WACV '07. IEEE Workshop on

Date of Conference:

Feb. 2007