TY - GEN
T1 - Landing a UAV on a runway using image registration
AU - Miller, Andrew
AU - Shah, Mubarak
AU - Harper, Don
PY - 2008
Y1 - 2008
N2 - In this paper we present a system that uses only vision to land a UAV on a runway. We describe a method for estimating the relative location of the runway as an image by performing image registration against a stack of images in which the location of the runway is known. An approximation of the camera projection model for a forward-facing view of a runway is derived, allowing the course deviation of the UAV to be estimated from a registered image. The course deviation is used as input to a linear feedback control loop to maintain the correct flight path. Our method is implemented as a real-time multithreaded application, which is used to control an aircraft in Microsoft Flight Simulator. We also show results of applying the vision component of the system to video recorded from an actual UAV.
AB - In this paper we present a system that uses only vision to land a UAV on a runway. We describe a method for estimating the relative location of the runway as an image by performing image registration against a stack of images in which the location of the runway is known. An approximation of the camera projection model for a forward-facing view of a runway is derived, allowing the course deviation of the UAV to be estimated from a registered image. The course deviation is used as input to a linear feedback control loop to maintain the correct flight path. Our method is implemented as a real-time multithreaded application, which is used to control an aircraft in Microsoft Flight Simulator. We also show results of applying the vision component of the system to video recorded from an actual UAV.
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U2 - 10.1109/ROBOT.2008.4543206
DO - 10.1109/ROBOT.2008.4543206
M3 - Conference contribution
AN - SCOPUS:51649097906
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 182
EP - 187
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -