Author : Beau J. Tippetts
Publisher :
ISBN 13 :
Total Pages : 71 pages
Book Rating : 4.:/5 (368 download)
Book Synopsis Real-time Implementations of Vision Algorithms for Control, Stabilization, and Target Tracking, for a Hovering Micro-UAV by : Beau J. Tippetts
Download or read book Real-time Implementations of Vision Algorithms for Control, Stabilization, and Target Tracking, for a Hovering Micro-UAV written by Beau J. Tippetts and published by . This book was released on 2008 with total page 71 pages. Available in PDF, EPUB and Kindle. Book excerpt: A lightweight, powerful, yet efficient quad-rotor platform was designed and constructed to obtain experimental results of completely autonomous control of a hovering micro-UAV using a complete on-board vision system. The on-board vision and control system is composed of a Helios FPGA board, an Autonomous Vehicle Toolkit daughterboard, and a Kestrel Autopilot. The resulting platform is referred to as the Helio-copter. An efficient algorithm to detect, correlate, and track features in a scene and estimate attitude information was implemented with a combination of hardware and software on the FPGA, and real-time performance was obtained. The algorithms implemented include a Harris feature detector, template matching feature correlator, RANSAC similarity-constrained homography, color segmentation, radial distortion correction, and an extended Kalman filter with a standard-deviation outlier rejection technique (SORT). This implementation was designed specifically for use as an on-board vision solution in determining movement of small unmanned air vehicles that have size, weight, and power limitations. Experimental results show the Helio-copter capable of maintaining level, stable flight within a 6 foot by 6 foot area for over 40 seconds without human intervention.