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

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Permanent URL	http://hdl.lib.byu.edu/1877/2485
Title	Performance Evaluation of Vision-Based Navigation and Landing on a Rotorcraft Unmanned Aerial Vehicle
BYU Creator	Hubbard, David McLain, Timothy W. Morse, Bryan S.
Creator	Theodore, Colin Tischler, Mark
Keywords	unmanned aerial vehicle; UAV; rotorcraft; position estimation
Description/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.
Source	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 '07: Proceedings of the Eighth IEEE Workshop on Applications of Computer Vision, IEEE Computer Society, February 2007.;
Publisher	IEEE
Date Original	2007-02
Date Digital	2010-09-21
Language	English eng en
Publication Type	Articles Conference Proceedings
Type	Text
Format	application/pdf
Owning Institution	Brigham Young University
BYU College	College of Physical and Mathematical Sciences Ira A. Fulton College of Engineering and Technology
BYU Department	Computer Science Mechanical Engineering
Copyright Status	(c) 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	http://www.lib.byu.edu/generic_copyright.html

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

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