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Proceedings Paper

Image-based navigation for low-flying aerial vehicles
Author(s): Nikolaus Schweyer; Fred R. Holick; Wilfried Klein
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Paper Abstract

This presentation describes the principle mechanisms how to compute position and attitude of an imaging sensor from a 3D landmark. A mission planning process provides data for the flightpath and appropriate descriptions of landmarks along the flightpath. The processing schemes as well as design considerations for a real time implementation are discussed. The processing consists of three levels. The image processing part extracts edge information from the image of a scene. The pattern recognition part solves the correspondence problem between the edges of the scene and a 3D wire model of the landmark by a relaxation matching operation. Photogrammetric methods finally are used in the pose estimation part. Nonlinear numerical optimization techniques are used to compute position and attitude of the sensor respectively the aerial vehicle.

Paper Details

Date Published: 10 October 2003
PDF: 8 pages
Proc. SPIE 5074, Infrared Technology and Applications XXIX, (10 October 2003); doi: 10.1117/12.487295
Show Author Affiliations
Nikolaus Schweyer, EADS LFK GmbH (Germany)
Fred R. Holick, EADS LFK GmbH (Germany)
Wilfried Klein, EADS LFK GmbH (Germany)

Published in SPIE Proceedings Vol. 5074:
Infrared Technology and Applications XXIX
Bjorn F. Andresen; Gabor F. Fulop, Editor(s)

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