A visual odometer for autonomous helicopter flight

被引：93

作者：

Amidi, O ^{[1
]}

Kanade, T ^{[1
]}

Fujita, K ^{[1
]}

机构：

[1] Carnegie Mellon Robot Inst, Pittsburgh, PA USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 1999年 / 28卷 / 2-3期

关键词：

helicopter; vision-based; odometer; navigation; aerial robotics;

D O I：

10.1016/S0921-8890(99)00016-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 [计算机科学与技术];

摘要：

This paper presents a visual odometer for autonomous helicopter flight. The odometer estimates helicopter position by visually locking on to and tracking ground objects. The paper describes the philosophy behind the odometer as well as its tracking algorithm and implementation The paper concludes by presenting test flight data of the odometer's performance on-board indoor and outdoor prototype autonomous helicopters. (C) 1999 Published by Elsevier Science B.V. All rights reserved.

引用

页码：185 / 193

页数：9