Name
Abstract | ||
|---|---|---|
Vision algorithms were implemented on an field programmable gate array to provide additional information to supplement the insufficient data of a standard inertial measurement unit in order to create a previously unrealized completely onboard vision system for micro-unmanned aerial vehicles. The onboard vision system is composed of an field programmable gate array board, and a custom interface daughterboard which allow it to provide data regarding drifting movements of the micro-unmanned aerial vehicle not detected by inertial measurement units. The algorithms implemented for the vision system include a Harris feature detector, template matching feature correlator, similarity-constrained homography by random sample consensus, color segmentation, radial distortion correction, and an extended Kalman filter with a standard-deviation outlier rejection technique. This vision system was designed specifically for use as an onboard vision solution for determining movement of micro-unmanned aerial vehicles that have severe size, weight, and power limitations. Results show that the vision system is capable of real-time onboard image processing with sufficient accuracy to allow a micro-unmanned aerial vehicle to control itself without power or data tethers to a groundstation. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.2514/1.40185 | JOURNAL OF AEROSPACE COMPUTING INFORMATION AND COMMUNICATION |
Field | DocType | Volume |
Distortion (optics),Template matching,Computer vision,Extended Kalman filter,Machine vision,Simulation,Image processing,Field-programmable gate array,Homography,Artificial intelligence,Inertial measurement unit,Engineering | Journal | 6 |
Issue | ISSN | Citations |
10 | 1940-3151 | 9 |
PageRank | References | Authors |
0.61 | 19 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Beau J. Tippetts | 1 | 112 | 7.62 |
| Dah-Jye Lee | 2 | 422 | 42.05 |
| Spencer G. Fowers | 3 | 38 | 4.74 |
| James K. Archibald | 4 | 632 | 161.01 |