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Proceedings Paper

Optical flow based 3D motion estimation for autonomous landing of a UAV on deck
Author(s): Rui Wang; Guangjun Zhang; Peng Yan
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Paper Abstract

3-D motion estimation method based on computer vision theory is employed to implement a vision guide algorithm for UAV in this paper. First, the image sequences of landing target are taken by the camera mounted on UAV with known focal length and the Lucas-Kanade method is adopted to estimate two successive frame optical flow; then a hierarchical approach is described to effectively decompose the nonlinearities of the 3-D motion estimation into two linear subsystems; finally 3-D motion and structure(depth) information of landing target relative to UAV is recovered without using features of landing target. Experiments using both computer simulated images and real video images demonstrate the correctness and effectiveness of our method.

Paper Details

Date Published: 4 January 2006
PDF: 6 pages
Proc. SPIE 5985, International Conference on Space Information Technology, 59854H (4 January 2006); doi: 10.1117/12.658348
Show Author Affiliations
Rui Wang, Beijing Univ. of Aeronautics and Astronautics (China)
Guangjun Zhang, Beijing Univ. of Aeronautics and Astronautics (China)
Peng Yan, Beijing Univ. of Aeronautics and Astronautics (China)

Published in SPIE Proceedings Vol. 5985:
International Conference on Space Information Technology
Cheng Wang; Shan Zhong; Xiulin Hu, Editor(s)

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