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1 We present a technique for measuring, controlling, and stabilizing the attitude of a UAV by using a camera to monitor the visual horizon. A vision-based algorithm incorporating color and intensity information is used to detect the horizon by segmenting the ground from the sky. The attitude of the aircraft is then measured using the position, shape, and(More)
This paper describes a technique for estimating the attitude of a UAV by monitoring the visual horizon. An algorithm is developed that makes the best use of color and intensity information in an image to determine the position and orientation of the horizon, and infer the aircraft's attitude. The technique is accurate, reliable, and fully capable of(More)
This study describes a novel, vision-based system for guidance of UAVs. The system uses two cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a cylindrical co-ordinate(More)
This study describes a novel, vision-based system for guidance of UAVs. The system uses two coaxially aligned cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a(More)
In this article, we describe how flying insects use vision for guidance, especially in the contexts of regulating flight speed, negotiating narrow gaps, avoiding obstacles, and performing smooth landings. We show that many of these maneuvers, which were traditionally believed to involve relatively complex and high-level perception, can be achieved through(More)
There is considerable interest in designing guidance systems for UAVs that use passive sensing (such as vision), rather than active sensing which can be bulky, expensive and stealth-compromising. Here we describe and evaluate a sensor that uses optic flow for measurement and control of height above the ground. A video camera is used in conjunction with a(More)