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Low-cost flight control system for a small autonomous helicopter
- In IEEE Int’l Conf. on Robotics and Automation
, 2002
"... In this paper we describe a low-cost flight control system for a small (60 class) helicopter which is part of a larger project to develop an autonomous flying vehicle. Our approach differs from that of others in not using an expensive inertial/GPS sensing system. The primary sensors for vehicle stab ..."
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Cited by 55 (2 self)
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In this paper we describe a low-cost flight control system for a small (60 class) helicopter which is part of a larger project to develop an autonomous flying vehicle. Our approach differs from that of others in not using an expensive inertial/GPS sensing system. The primary sensors for vehicle stabilization are a low-cost inertial sensor and a pair of CMOS cameras. We describe the architecture of our flight control system, the inertial and visual sensing subsystems and present some control results. 1
Assessing the performance of corner detectors for point feature tracking applications
- Image and Vision Computing
, 2004
"... In this paper we assess the performance of corner feature detecting algorithms for feature tracking applications. We analyze four different types of corner extractors, which have been widely used for a variety of applications. They are the Kitchen-Rosenfeld, the Harris, the Kanade-Lucas-Tomasi, and ..."
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Cited by 20 (0 self)
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In this paper we assess the performance of corner feature detecting algorithms for feature tracking applications. We analyze four different types of corner extractors, which have been widely used for a variety of applications. They are the Kitchen-Rosenfeld, the Harris, the Kanade-Lucas-Tomasi, and the Smith corner detectors. We use corner stability and corner localization properties as measures to evaluate the quality of the features extracted by the 4 detectors. For effective assessment of the corner detectors, we employed image sequences with no motion (simply static image sequences), so that the appearance and disappearance of corners in each frame is purely due to image plane noise and illumination conditions. Such a setup is ideal to analyze the stability and localization properties of the corners. The corners extracted from the initial frame are then matched through the sequence using a corner matching strategy. We employed 2 different types of matchers, namely the GVM (Gradient Vector Matcher) and the Product Moment Coefficient Matcher (PMCM). Each of the corner detectors was tested with each of the matching algorithms to evaluate their performance in tracking (matching) the features. The experiments were carried out on a variety of image sequences.
Height estimation for an autonomous helicopter
- in International Symposium on Experimental Robotics
, 2000
"... This paper describes our solution to the problem of estimating the height of an autonomous helicopter above ground. Height is a critical variable for a height control loop as required for the task of hovering. Two sensing approaches are investigated: ultrasonic and stereo imaging, which have complem ..."
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Cited by 7 (1 self)
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This paper describes our solution to the problem of estimating the height of an autonomous helicopter above ground. Height is a critical variable for a height control loop as required for the task of hovering. Two sensing approaches are investigated: ultrasonic and stereo imaging, which have complementary characteristics with respect to height. 1
Abidi, “A Comparison of Pose Estimation Techniques: Hardware vs. Video
- in Proc. of SPIE Unmanned Vehicle Technology VII
, 2005
"... Robotic navigation requires that the robotic platform have an idea of its location and orientation within the environment. This localization is known as pose estimation, and has been a much researched topic. There are currently two main categories of pose estimation techniques: pose from hardware, a ..."
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Cited by 4 (1 self)
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Robotic navigation requires that the robotic platform have an idea of its location and orientation within the environment. This localization is known as pose estimation, and has been a much researched topic. There are currently two main categories of pose estimation techniques: pose from hardware, and pose from video (PfV). Hardware pose estimation utilizes specialized hardware such as Global Positioning Systems (GPS) and Inertial Navigation Systems (INS) to estimate the position and orientation of the platform at the specified times. PfV systems use video cameras to estimate the pose of the system by calculating the inter-frame motion of the camera from features present in the images. These pose estimation systems are readily integrated, and can be used to augment and/or supplant each other according to the needs of the application. Both pose from video and hardware pose estimation have their uses, but each also has its degenerate cases in which they fail to provide reliable data. Hardware solutions can provide extremely accurate data, but are usually quite pricey and can be restrictive in their environments of operation. Pose from video solutions can be implemented with low-cost off-the-shelf components, but the accuracy of the PfV results can be degraded by noisy imagery, ambiguity in the feature matching process, and moving objects. This paper attempts to evaluate the cost/benefit comparison between pose from video and hardware pose estimation experimentally, and to provide a guide as to which systems should be used under certain scenarios.
Vehicle-borne Scanning for Detailed 3D Terrain Model Generation
, 2005
"... Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world ..."
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Cited by 2 (1 self)
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Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world environments. We utilize a mobile platform to move our sensors past the scene to be digitized – fusing the data from cm-level accuracy laser range scanners, positioning and orientation instruments, and high-resolution video cameras – to provide the mobility and speed required to quickly and accurately model the target scene.
2005-01-3557 Vehicle-borne Scanning for Detailed 3D Terrain Model Generation Copyright © 2005 SAE International
"... Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world ..."
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Three-dimensional models of real world terrain have application in a variety of tasks, but digitizing a large environment poses constraints on the design of a 3D scanning system. We have developed a Mobile Scanning System that works within these constraints to quickly digitize large-scale real world environments. We utilize a mobile platform to move our sensors past the scene to be digitized – fusing the data from cm-level accuracy laser range scanners, positioning and orientation instruments, and high-resolution video cameras – to provide the mobility and speed required to quickly and accurately model the target scene.
Segmentation of chip microimages by contour tracking
"... The segmentation of chip microimages, obtaining by scanning electron microscope is considered. In addition to high noise level these images are characterized by the presence of two rather different types of borders between the patterns, where the width of the first–type borders varies in enough larg ..."
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The segmentation of chip microimages, obtaining by scanning electron microscope is considered. In addition to high noise level these images are characterized by the presence of two rather different types of borders between the patterns, where the width of the first–type borders varies in enough large range. The algorithm for transformation and segmentation of these images is proposed.
Minimization in Robotic 3D Mapping Systems Operating in Dynamic Large-Scale Environments. ” I have
, 2008
"... for form and content and recommend that it be ..."
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