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Proceedings Paper

Exploiting uncalibrated stereo on a UAV platform
Author(s): Michele Banish; Mike Rodgers; Brian Hyatt; Richard Edmondson; David B. Chenault; Jason Heym; Paul DiNardo; Brian Gruber; John Johnson; Kelly Dobson
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Paper Abstract

Uncalibrated stereo imagery experimental and analytical results are presented for path planning and navigation. An Army Research and Development Engineering Command micro-size UAV was outfitted with two commercial cameras and flown over varied landscapes. Polaris Sensor Technologies processed the data post flight with an image correspondence algorithm of their own design. Stereo disparity (depth) was computed despite a quick assembly, image blur, intensity saturation, noise and barrel distortion. No camera calibration occurred. Disparity maps were computed at a processing rate of approximately 5 seconds per frame to improve perception. Disparity edges (treeline to ground, voids and plateaus) were successfully observed and confirmed to be properly identified. Despite the success of localizing this disparity edges sensitivity to saturated pixels, lens distortion and defocus were strong enough to overwhelm more subtle features such as the contours of the trees, which should be possible to extract using this algorithm. These factors are being addressed. The stereo data is displayed on a flat panel 3D display well suited for a human machine interface in field applications. Future work will entail extraction of intelligence from acquired data and the overlay of such data on the 3D image as displayed.

Paper Details

Date Published: 8 May 2010
PDF: 8 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76921T (8 May 2010); doi: 10.1117/12.851928
Show Author Affiliations
Michele Banish, Polaris Sensor Technologies, Inc. (United States)
Mike Rodgers, Polaris Sensor Technologies, Inc. (United States)
Brian Hyatt, Polaris Sensor Technologies, Inc. (United States)
Richard Edmondson, Polaris Sensor Technologies, Inc. (United States)
David B. Chenault, Polaris Sensor Technologies, Inc. (United States)
Jason Heym, Consultant (United States)
Paul DiNardo, U.S. Army Aviation and Missle Research, Development and Engineering Ctr. (United States)
Brian Gruber, U.S. Army Aviation and Missle Research, Development and Engineering Ctr. (United States)
John Johnson, U.S. Army Aviation and Missle Research, Development and Engineering Ctr. (United States)
Kelly Dobson, U.S. Army Aviation and Missle Research, Development and Engineering Ctr. (United States)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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