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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)
Unmanned aerial vehicles (UAVs) are increasingly replacing manned systems in situations that are either too dangerous, too remote, or too difficult formanned aircraft to access. Modern UAVs are capable of accurately controlling their position and orientation in space using systems such as the Global Positioning System (GPS) and the Attitude and Heading(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)
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)
This study describes a novel method for automatically obtaining the attitude of an aircraft from the visual horizon. A wide-angle view of the environment, including the visual horizon, is captured and the input images are classified into fuzzy sky and ground regions using the spectral and intensity properties of the pixels. The classifier is updated(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)