Horizon-Based Attitude Estimation from a Panoramic Vision Sensor

Horizon-Based Attitude Estimation from a Panoramic Vision Sensor
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全景视觉传感器基于地平线的姿态估计

DOI：
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发表时间：
2012
期刊：
影响因子：
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通讯作者：
S. Anavatti
S. Anavatti
中科院分区：
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文献类型：
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作者：
Mohsen H. Tehrani;M. Garratt;S. Anavatti

文献摘要

被引文献

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摘要了解飞行器的精确姿态是实现自主飞行的关键因素。本文提出了一种新的基于全景视觉的姿态确定方法。设计了一种由CCD摄像机、紫外滤光片和全景镜组成的新型摄像系统。全景图像，用于姿态确定的紫外波长，以提高天空和地面之间的对比度。通过与惯性测量单元的比较，验证了该方法的有效性。
Abstract Knowing the exact attitude of the aerial vehicle is a critical factor for autonomous flying. In this paper, a new panoramic vision-based attitude determination is presented. A new camera system is designed with combination of a CCD camera, UltraViolet (UV) filter and a panoramic mirror-lens. The panoramic image, to be used for attitude determination is presented in UV wavelength to enhance the contrast between the sky and the ground. The vision system can be used to reduce the drift of aerial vehicles and the validity of the method is evaluated comparing to IMU.