Paul C. Merrell

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In order for an unmanned aerial vehicle (UAV) to safely fly close to the ground, it must be capable of detecting and avoiding obstacles in its flight path. From a single camera on the UAV, the 3D structure of its surrounding environment, including any obstacles, can be estimated from motion parallax using a technique called structure from motion. Most(More)
Recent advances in many multi-discipline technologies have allowed small, low-cost fixed wing unmanned air vehicles (UAV) or more complicated unmanned ground vehicles (UGV) to be a feasible solution in many scientific, civil and military applications. Cameras can be mounted on-board of the unmanned vehicles for the purpose of scientific data gathering,(More)
This thesis has been read by each member of the following graduate committee and by majority vote has been found to be satisfactory ____________________________ ___________________________________ Date As chair of the candidate's graduate committee, I have read the thesis of Paul C. Merrell in its final form and have found that (1) its format, citations,(More)
For a UAV to be capable of autonomous low-level flight and landing, the UAV must be able to calculate its current height above the ground. If the speed of the UAV is approximately known, the height of the UAV can be estimated from the apparent motion of the ground in the images that are taken from an onboard camera. One of the most difficult aspects in(More)
Structure from motion is a technique that attempts to reconstruct the 3D structure of a scene from a sequence of images taken from a camera moving within the scene. Structure from motion can be used on an Unmanned Aerial Vehicle or Unmanned Ground Vehicle for obstacle detection as well as for path-planning and navigation. The 3D structure of the scene is(More)
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