An Optical System for Guidance of Terrain Following in UAVs

Authors:
Mandyam V. Srinivasan;Saul Thurrowgood;Dean Soccol
Affiliations:
Australian National University, Australia;Australian National University, Australia;Australian National University, Australia
Venue:
AVSS '06 Proceedings of the IEEE International Conference on Video and Signal Based Surveillance
Year:
2006

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Abstract

There is considerable interest in designing guidance systems for UAVs that use passive sensing (such as vision), rather than active sensing which can be bulky, expensive and stealth-compromising. Here we describe an optical sensor, based partly on principles of insect vision and optic flow analysis, for measurement and control of height above the ground. A video camera is used in conjunction with a specially shaped reflective surface to simplify the computation of optic flow, and extend the range of aircraft speeds over which accurate data can be obtained. The imaging system also provides a useful geometrical remapping of the environment, which facilitates obstacle avoidance and computation of 3-D terrain maps.