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Experiments from biology suggest that the sensing of image motion or optic flow in insects provides a means of determining the range to obstacles and terrain. When combined with a measure of ground speed from another sensor such as GPS, optic flow can be used to provide a measure of an aircraft's height above terrain. We apply this principle to the control(More)
This paper presents an integrated GPS/INS/Vision navigation system for Unmanned Aerial Vehicles (UAVs). A CCD (Charge-Coupled Device) video camera and laser rangefinder (LRF) based vision system, combined with inertial sensors, provides the information on the vertical and horizontal movements of the UAV (helicopter) relative to the ground, which is critical(More)
A small embedded vision sensor has been developed using Field Programmable Gate Arrays (FPGA) technology. The sensor computes op-tic flow using a streaming version of the image interpolation algorithm to provide flow vectors at 36 equally spaced locations in a 1024×768 pixel image. The sensor has been tested in flight on an unmanned helicopter and(More)
The problem of developing a reliable system for sensing and controlling the hover of a Micro Air Vehicle (MAV) using visual snapshots is considered. The current problem is part of a larger project, which is developing an autonomous MAV, controlled by vision only information. A new algorithm is proposed that uses a stored image of the ground, a snapshot(More)
Dominant plane estimation is an fundamental task not only for trajectory finding problems but also autonomous navigation of mobile robots and MAVs (Micro Air Vehicles). In this paper, we illustrate a novel dominant plane detection approach from a RGB-D camera image sequences. A plane fitting as region growing technique is used in this work, rather than(More)
Nowadays, unmanned aerial vehicles (UAV) play a noteworthy role in miscellaneous defence and civilian operation. A major facet in the UAV control system is an identification phase feeding the valid and up-to-date information of the system dynamic in order to generate proper adaptive control action to handle various UAV maneuvers. UAV, however, constitutes a(More)
Autonomously operating unmanned aerial vehicles (UAV) have a great potential for many applications such as reconnaissance, mapping and surveillance. Whilst needing low cost and light weight navigation systems in their implementations, sensors like GPS or low cost inertial sensors can't separately provide either the complete set of information or the(More)