By Topic

A fast and adaptive method for estimating UAV attitude from the visual horizon

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Moore, R. ; Queensland Brain Inst., Univ. of Queensland, St. Lucia, QLD, Australia ; Thurrowgood, S. ; Bland, D. ; Soccol, D.
more authors

This study describes a novel method for automatically obtaining the attitude of an aircraft from the visual horizon. A wide-angle view of the environment, including the visual horizon, is captured and the input images are classified into fuzzy sky and ground regions using the spectral and intensity properties of the pixels. The classifier is updated continuously using an online reinforcement strategy and is therefore able to adapt to the changing appearance of the sky and ground, without requiring prior training offline. A novel approach to obtaining the attitude of the aircraft from the classified images is described, which is reliable, accurate, and computationally efficient to implement. This method is therefore suited to real-time operation and we present results from flight tests that demonstrate the ability of this vision-based approach to outperform an inexpensive inertial system.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011