Low-Altitude Road Following, Using Strap-Down Cameras on Miniature Aerial Vehicles Low-Altitude Road Following, Using Strap-Down Cameras on Miniature Aerial Vehicles
The objective of this thesis is to explore roll-angle and altitude-above-ground-level constraints imposed on a bank-to-turn MAV due to the requirement to keep the pathway in the footprint of a downward-looking strap-down camera. This thesis derives the required altitude to maintain the pathway in the footprint of the camera and associated bank-angle constraints. Constraints are derived for both roads whose geometry is unknown a priori and roads with known geometry obtained from digital elevation map (DEM) data. MAV geometry and camera localization are used to derive these constraints.
The thesis also discusses simple computer vision techniques for pathway following and a corresponding guidance law. The pixels of the captured color video are statistically classified into road and non-road components. Standard computer vision functions are used to eliminate classification noise and obtain a road heading direction. The effectiveness of the result is explored using a high fidelity simulator. Flight test results on small UAVs demonstrate the practicality of the road-following method.
School:Brigham Young University
School Location:USA - Utah
Source Type:Master's Thesis
Keywords:magicc road following mav image directed control miniature air vehicles
Date of Publication:11/16/2007