Low-altitude horizon-based aircraft attitude estimation using UV-filtered panoramic images and optic flow

@article{Tehrani2016LowaltitudeHA,
  title={Low-altitude horizon-based aircraft attitude estimation using UV-filtered panoramic images and optic flow},
  author={Mohsen H. Tehrani and Matthew A. Garratt and Sreenatha G. Anavatti},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  year={2016},
  volume={52},
  pages={2362-2375}
}
In this paper, a novel method for real-time horizon-based attitude estimation using panoramic images is presented with results from real flight tests showing accurate attitude estimation for a rotary-wing aircraft in cluttered environments. The vision system is biologically inspired from the function of the Ocelli organ present in some insects and the fact that ultraviolet images provide better sky/ground contrast enhancement. A new method for panoramic sky/ground thresholding is proposed… CONTINUE READING

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