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Monocular Vision System for Fixed Altitude Flight of Unmanned Aerial Vehicles.

Huang KL, Chiu CC, Chiu SY, Teng YJ, Hao SS - Sensors (Basel) (2015)

Bottom Line: The UAV flight system can be set to fly at a fixed and relatively low altitude to obtain the same resolution of ground images.A forward-looking camera is mounted on the upside of the aircraft's nose.Experimental results show that the proposed system enables UAVs to obtain terrain images at constant resolution, and to detect the relative altitude along the flight path.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical and Electronic Engineering, Chung Cheng Institute of Technology, National Defense University, Taoyuan 33551, Taiwan. 1040510304@ndu.edu.tw.

ABSTRACT
The fastest and most economical method of acquiring terrain images is aerial photography. The use of unmanned aerial vehicles (UAVs) has been investigated for this task. However, UAVs present a range of challenges such as flight altitude maintenance. This paper reports a method that combines skyline detection with a stereo vision algorithm to enable the flight altitude of UAVs to be maintained. A monocular camera is mounted on the downside of the aircraft's nose to collect continuous ground images, and the relative altitude is obtained via a stereo vision algorithm from the velocity of the UAV. Image detection is used to obtain terrain images, and to measure the relative altitude from the ground to the UAV. The UAV flight system can be set to fly at a fixed and relatively low altitude to obtain the same resolution of ground images. A forward-looking camera is mounted on the upside of the aircraft's nose. In combination with the skyline detection algorithm, this helps the aircraft to maintain a stable flight pattern. Experimental results show that the proposed system enables UAVs to obtain terrain images at constant resolution, and to detect the relative altitude along the flight path.

No MeSH data available.


Error analysis of the calibration tables shown in Figure 9.
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sensors-15-16848-f010: Error analysis of the calibration tables shown in Figure 9.

Mentions: Figure 10 shows the error analysis of the relative distance between the detected distance and real distance. In this figure, X-axis represents the real distance varying from 20 m to 40 m, Y-axis represents the baseline varying from 30 cm to 46 cm, and Z-axis represents the error between the detected distance and the real distance. The error values are within 2 m in Figure 10.


Monocular Vision System for Fixed Altitude Flight of Unmanned Aerial Vehicles.

Huang KL, Chiu CC, Chiu SY, Teng YJ, Hao SS - Sensors (Basel) (2015)

Error analysis of the calibration tables shown in Figure 9.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4541911&req=5

sensors-15-16848-f010: Error analysis of the calibration tables shown in Figure 9.
Mentions: Figure 10 shows the error analysis of the relative distance between the detected distance and real distance. In this figure, X-axis represents the real distance varying from 20 m to 40 m, Y-axis represents the baseline varying from 30 cm to 46 cm, and Z-axis represents the error between the detected distance and the real distance. The error values are within 2 m in Figure 10.

Bottom Line: The UAV flight system can be set to fly at a fixed and relatively low altitude to obtain the same resolution of ground images.A forward-looking camera is mounted on the upside of the aircraft's nose.Experimental results show that the proposed system enables UAVs to obtain terrain images at constant resolution, and to detect the relative altitude along the flight path.

View Article: PubMed Central - PubMed

Affiliation: Department of Electrical and Electronic Engineering, Chung Cheng Institute of Technology, National Defense University, Taoyuan 33551, Taiwan. 1040510304@ndu.edu.tw.

ABSTRACT
The fastest and most economical method of acquiring terrain images is aerial photography. The use of unmanned aerial vehicles (UAVs) has been investigated for this task. However, UAVs present a range of challenges such as flight altitude maintenance. This paper reports a method that combines skyline detection with a stereo vision algorithm to enable the flight altitude of UAVs to be maintained. A monocular camera is mounted on the downside of the aircraft's nose to collect continuous ground images, and the relative altitude is obtained via a stereo vision algorithm from the velocity of the UAV. Image detection is used to obtain terrain images, and to measure the relative altitude from the ground to the UAV. The UAV flight system can be set to fly at a fixed and relatively low altitude to obtain the same resolution of ground images. A forward-looking camera is mounted on the upside of the aircraft's nose. In combination with the skyline detection algorithm, this helps the aircraft to maintain a stable flight pattern. Experimental results show that the proposed system enables UAVs to obtain terrain images at constant resolution, and to detect the relative altitude along the flight path.

No MeSH data available.