06-10-2012, 05:44 PM
Vision Based Landing Of MAV
Vision Based Landing.pptx (Size: 147.92 KB / Downloads: 21)
Related Work
Vision-Based Guidance and Control of a Hovering Vehicle in Unknown, GPS-denied Environments by Spencer Ahrens.(controllers)
Vision Based MAV Navigation in Unknown and Unstructured Environments by Michael Blosch.(SLAM algorithm)
Landing a UAV on a Runway Using Image Registration by Andrew Miller.(Homography)
Visually guided Micro-Aerial Vehicle: automatic take off, terrain following, landing and wind reaction by Franck Rufier (Elementary Motion Detector ).
Assumptions
Height above the ground is know.
Initial heading is known.
Geo-location of corner points are given.
Landing phase begins when MAV comes in Vision of ROI.
Landing PAD is Stored in MAV Buffer.
Methods Tried
For Template finding
Intensity based Histogram equalization.
Euclidian Distance.
Intensity based Cross correlation.
Open CV Template matching.
For Feature point Extraction
Shift Algorithm.
Shift feature matching.
Good Features to track (Harries Open CV).
Fast Algorithm.