Vision-based navigation using multi-rate feedback from optic flow and scene reconstruction

Aeronautical Journal

Volumn 115, Issue 1169, 2011, Pages 411-420

  Arvai, A R ^a   Kehoe, J J ^a   Lind, R ^a  

^a UNIVERSITY OF FLORIDA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AIRCRAFT ACCIDENTS; AIRCRAFT CONTROL; CONTROLLERS; FEEDBACK; FLIGHT PATHS; MOTION PLANNING; OPTICAL FLOWS; TARGET TRACKING; VEHICLE PERFORMANCE;

AUTONOMOUS SYSTEMS; COMPUTATIONAL COSTS; COMPUTATIONAL RESOURCES; FLIGHT TRAJECTORY; MISSION OBJECTIVES; SCENE RECONSTRUCTION; VISION BASED CONTROL; VISION BASED NAVIGATION;

VISUAL SERVOING;

EID: 79961177310     PISSN: 00019240     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0001924000006035     Document Type: Article

References (38)

1. LUCAS, B. and KANADE, T. An iterative image registration technique with an application to stereo vision, Proceedings of the DARPA Image Understanding Workshop, 1981, pp 121-130.
2. HORN, B. K. and SCHUNK, B. G. Determining optical flow, Artificial Intelligence, 1981, 17, pp 185-203.
3. SONG, K.-T. and HUANG, J.-H. Fast optical flow estimation and its application to real-time obstacle avoidance, IEEE International Conference on Robotics and Automation, 2001, 3, pp 2891-2896. (Pubitemid 32815642)
4. RUFFIER, F., VIOLLET, S., AMIC, S. and FRANCESCHINI, N. Bio-inspired optical flow circuits for the visual guidance of micro-air vehicles, International Symposium on Circuits and Systems, May 2003, 3, pp 846-849.
5. BARROWS, G. L. Future visual microsensors for mini/micro-UAV Applications, 7th IEEE International Workshop on Cellular Neural Networks and their Applications, July 2002, pp 498-506.
6. BARROWS, G. L., CHAHL, J. S. and SRINIVASAN, M. V. Biomimetic visual sensing and flight control, 2002 Bristol UAV Conference, April 2002.
7. BARROWS, G. L. and NEELY, C. Mixed-mode VLSI optic flow sensors for in-flight control of a micro air vehicle, SPIE, July 2000.
8. YOUNG, G.-S., HONG, T.-H., HERMAN, M. and YANG, J. C. S. Obstacle detection for a vehicle using optical flow, Intelligent Vehicles Symposium, June 1992, pp 185-190.
9. BARATOFF, G., TOEPFER, C; WENDE, M. and NEUMANN, H. Real-time navigation and obstacle avoidance from optical flow on a Space-variant map, IEEE International Symposium on Intelligent Control, September 1998, pp 289-294.
10. CASTRO, A. P. A., SILVA, J. D. and SIMONI, P. O. Image based autonomous navigation with fuzzy logic control, International Joint Conference on Neural Networks, July 2001, 3, pp 2200-2205. (Pubitemid 32805241)
11. MERRELL, P. C., LEE, D. J. and BEARD, R. W. Obstacle Avoidance for Unmanned Air Vehicles Using Optical Flow Probability Distributions, SPIE Optics East, Robotics Technologies and Architectures, Mobile Robot XVII, October 2004, Volume 5609-04.
12. MA, Y., SOATTO, S., KOSECKA, J. and SASTRY, S. S. An Invitation to 3D Vision, Springer-Verlag Publishers, New York, NY, USA, 2004.
13. ULLMAN, S. The Interpretation of Visual Motion, MIT Press, Cambridge, MA, USA, 1979.
14. KURDILA, A., NECHYBA, M., PRAZENICA, R., DAHMEN, W., BINEV, P., DEVORE, R. and SHARPLEY, R. Vision-based control of micro air vehicle: progress and problems in estimation, IEEE Conference on Decision and Control, December 2004, pp 1635-1642. (Pubitemid 40291191)
15. WANG, H. and BRADY, M. A structure-from-motion algorithm for robot vehicle guidance, Intelligent Vehicles Symposium, July 1992, pp 30-35.
16. STEPHENS, M. J., BLISSETT, R. J., CHARNLEY, D., SPARKS, E. P. and PIKE, J. M. Outdoor vehicle navigation using passive 3D vision, IEEE Computer Society Conference on Computer Vision and Pattern Recognition, June 1989, pp 556-562.
17. KANADE, T., AMIDI, O. and KE, Q. Real-time and 3D vision for autonomous small and micro air vehicles, IEEE Conference on Decision and Control, December 2004, pp 1655-1662. (Pubitemid 40291194)
18. SINOPOLI, B., MICHELI, M., DONATO, G. and KOO, T. J. Vision based navigation for an unmanned aerial vehicle, IEEE International Conference on Robotics and Automation, 2001, 2, pp 1757-1764. (Pubitemid 32815111)
19. FORSYTH, D. A. and PONCE, J. Computer Vision: A Modern Approach, Prentice-Hall Publishers, Upper Saddle River, NJ, USA, 2003.
20. LORIGO, L. M., BROOKS, R. A. and GRIMSOU, W. E. L. Visually-guided obstacle avoidance in unstructured environments, IEEE International Conference on Intelligent Robots and Systems, September 1997, 1, pp 373-379.
21. YAO, Y.-S. and CHELLAPPA, R. Dynamic feature point tracking in an image sequence, 12th IAPR International Conference on Pattern Recognition, October 1994, 1, pp 654-657.
22. LONGUET-HIGGINS, H. A computer algorithm for reconstructing a scene from two projections, Nature, 1981, 293, pp 133-135.
23. HUANG, T. and FAUGERAS, O. Some properties of the e-matrix in twoview motion estimation, IEEE Transactions on Pattern Analysis and Machine Intelligence, 1989, 11, (12), pp 1310-1312. (Pubitemid 20642578)
24. ZHANG, Z., DERICHE, R., FAUGERAS, O. and LUONG, Q.-T. A robust technique for matching two uncalibrated images through the recovery of the unknown epipolar geometry, Artificial Intelligence J, 1995, 78, pp 87-119.
25. GRIMSON, W. From Images to Surfaces: A Computational Study of the Human Early Visual System, MIT Press, Cambridge, MA, USA, 1981.
26. FAUGERAS, O. Three-Dimensional Computer Vision, MIT Press, Cambridge, MA, USA, 1993.
27. OKUTAMI, M. and KANADE, T. A multiple-baseline stereo system, IEEE Transactions on Pattern Analysis and Machine Intelligence, 1993, 15, (4), pp 353-363.
28. KOENDERINK, J. and VAN DOORN, A. Affine structure from motion, J Optical Society of America: Part A, 1990, 8, pp 377-385.
29. TOMASI, C. and KANADE, T. Shape and motion from image strems under orthography: a factorization method, Int J Computer Vision, 1992, 9, (2), pp 137-154. (Pubitemid 23621943)
30. HARTLEY, R. and ZISSERMAN, A. Multiple View Geometry in Computer Vision, Cambridge University Press, Cambridge, UK, 2000.
31. BARRON, A. R., CHOEN, A., DAHMEN, W. and DEVORE, R. Approximation and learning by greedy algorithms, Annals of Statistics, 2008, 36, (1), pp 64-94.
32. ZABARANKIN, M., KURDILA, A., PROKOPYEV, O., GOEL, A., BOGINSKI, V., CAUSEY, R., URYASEV, S. and PARDALOS, P. Vision-based trajectory planning for autonomous micro air vehicles in urban environments, IEEE Robotics and Automation Magazine, in review.
33. WEBB, T. P., PRAZENICA, R. J., KURDILA, A. J. and LIND, R. Vision-based state estimation for uninhabited aerial vehicle, AIAA-2005-5869, August 2005.
34. CAUSEY, R. S, LIND, R. and PRAZENICA, R. J. Effects of camera uncertainty on vision-based feedback, AIAA-2005-6097.
35. ROBERTS, P. J., WALKER, R. A. and O'SHEA, P. Fixed wing UAV navigation and control through Integrated GNSS and vision, AIAA-2005-5867, August 2005.
36. KEHOE, J. J., CAUSEY, R. S., ARVAI, A. and LIND, R. Optical flow to estimate angular rates and aerodynamic angles of nonlinear aircraft, submitted to American Control Conference, June 2006.
37. STEVENS, B. L. and LEWIS, F. L. Aircraft control and simulation, Wiley, 2003.
38. KEHOE, J. J., CAUSEY, R. S., ABDULRAHIM, M. and LIND, R. Waypoint navigation for a micro air vehicle using vision-based attitude estimation, Aeronaut J, December 2006, 110, (1114), pp 821-829. (Pubitemid 46902597)