On the Computation of the Ego-Motion and Distance to Obstacles for a Micro Air Vehicle
AIR FORCE RESEARCH LAB WRIGHT-PATTERSON AFB OH AIR VEHICLES DIRECTORATE
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In this paper, we have considered the problem of velocity and range estimation for a UAV using a camera and the knowledge of total speed through a GPS device. We have shown that this problem can be solved using a reliability-based motion computation and an optimization problem that is well-posed. If the velocity in the body frame is known, then the problem results in a straight-forward solution. For the more complicated case, when only the total speed is known, we assume that the component of the linear velocity along the axis of the camera is positive. We show that these assumptions form minimal additional information required to solve the problem of ego-motion and range estimation.
- Numerical Mathematics
- Pilotless Aircraft
- Air Navigation and Guidance