Optical flow based 3D motion estimation for autonomous landing of a UAV on deck

Rui Wang; Guangjun Zhang; Peng Yan

doi:10.1117/12.658348

4 January 2006 Optical flow based 3D motion estimation for autonomous landing of a UAV on deck

Rui Wang, Guangjun Zhang, Peng Yan

Proceedings Volume 5985, International Conference on Space Information Technology; 59854H (2006) https://doi.org/10.1117/12.658348
Event: International Conference on Space information Technology, 2005, Wuhan, China

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.

Citation Download Citation

Rui Wang, Guangjun Zhang, and Peng Yan "Optical flow based 3D motion estimation for autonomous landing of a UAV on deck", Proc. SPIE 5985, International Conference on Space Information Technology, 59854H (4 January 2006); https://doi.org/10.1117/12.658348

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