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Proceedings Paper

Flexible vision-based navigation system for unmanned aerial vehicles
Author(s): Erik P. Blasch
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Paper Abstract

A critical component of unmanned aerial vehicles in the navigation system which provides position and velocity feedback for autonomous control. The Georgia Tech Aerial Robotics navigational system (NavSys) consists of four DVTStinger70C Integrated Vision Units (IVUs) with CCD-based panning platforms, software, and a fiducial onboard the vehicle. The IVUs independently scan for the retro-reflective bar-code fiducial while the NavSys image processing software performs a gradient threshold followed by a image search localization of three vertical bar-code lines. Using the (x,y) image coordinate and CCD angle, the NavSys triangulates the fiducial's (x,y) position, differentiates for velocity, and relays the information to the helicopter controller, which independently determines the z direction with an onboard altimeter. System flexibility is demonstrated by recognition of different fiducial shapes, night and day time operation, and is being extended to on-board and off-board navigation of aerial and ground vehicles. The navigation design provides a real-time, inexpensive, and effective system for determining the (x,y) position of the aerial vehicle with updates generated every 51 ms (19.6 Hz) at an accuracy of approximately +/- 2.8 in.

Paper Details

Date Published: 9 January 1995
PDF: 10 pages
Proc. SPIE 2352, Mobile Robots IX, (9 January 1995); doi: 10.1117/12.198983
Show Author Affiliations
Erik P. Blasch, Georgia Institute of Technology (United States)

Published in SPIE Proceedings Vol. 2352:
Mobile Robots IX
William J. Wolfe; Wendell H. Chun, Editor(s)

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