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... input to the height regulation loop, and to scale estimated optical flow into speed across the ground. A more complete description of our height esFigure 7: CMOS camera. timation system is given in =-=[7]-=-. Notable differences since are the sensors and their placement. The Videre Design ST1 camera head has been replaced with two 1/3 inch inhouse color CMOS cameras (Figure 7) mounted directly to the car...

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...means of computer visionsare described in [4] and [5], in the framework of thesCOMETS project. Finally, Peter Corke et al. implementedsrelated work using stereo vision for height estimation on asUAV (=-=[6]-=-).sIn the following sections the HELINSPEC project willsbe introduced. After this, a image matching method andshomography computation procedure are summarized.sFinally, the visual odometer algorithms ...

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...r over all relative constraints. Most solutions proposed in literature formulate this pose-graph optimisation as a least-squares problem by minimising a cost function similar to one given in equation =-=(2)-=- above. Most of these solutions use iterative estimation methods for minimisation such as Gauss–Newton or Levenberg–Marquardt algorithms.16,17,18,32 However, with these methods there is no guarantee o...

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...r over all relative constraints. Most solutions proposed in literature formulate this pose-graph optimisation as a least-squares problem by minimising a cost function similar to one given in equation =-=(2)-=- above. Most of these solutions use iterative estimation methods for minimisation such as Gauss–Newton or Levenberg–Marquardt algorithms.16,17,18,32 However, with these methods there is no guarantee o...

Citation Context

...means of computer vision are described in [4] and [5], in the framework of the COMETS project. Finally, Peter Corke et al. implemented related work using stereo vision for height estimation on a UAV (=-=[6]-=-). In the following sections the HELINSPEC project will be introduced. After this, a image matching method and homography computation procedure are summarized. Finally, the visual odometer algorithms ...

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... velocities and a differential GPS to obtain the three dimensional position and velocities achieving a reasonable accuracy. Recently other autonomous control systems have been developed. Corke et al. =-=[2, 3]-=- developed a low-cost flight control system for small helicopters. Their approach differs from others in not using expensive inertial and GPS system. They use low-cost inertial sensors and a pair of C...