UAV navigation based on videosequences captured by the onboard video camera
| Autor: | Karen Stepanyan, Boris M. Miller, A. K. Popov, Alexander B. Miller |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry Optical flow Video camera 02 engineering and technology Kalman filter Inverse problem Field (computer science) Linear function Motion (physics) law.invention Image (mathematics) Computer Science::Robotics 020901 industrial engineering & automation Control and Systems Engineering law 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Computer vision Artificial intelligence Electrical and Electronic Engineering business |
| Zdroj: | Automation and Remote Control. 78:2211-2221 |
| ISSN: | 1608-3032 0005-1179 |
| Popis: | We propose an approach to navigation for an unmanned aerial vehicle based on finding elements of motion (EM) (linear and angular velocities) by processing the field of local velocities for the motion of an image taken by an onboard video camera. The field of velocities for the image motion, the so-called optical flow (OF), is a linear function of the EM, which allows to use it to find the latter and thus provides an additional way of navigation, which can be rather efficiently used for certain specific problems solved by an UAV in autonomous flight. In this work, we use an algorithm for computing the OF for a given motion of the vehicle (direct problem) and show how to reconstruct the motion of the vehicle by OF observations with methods of statistical estimation (inverse problem). |
| Databáze: | OpenAIRE |
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