Automatic Flight Control with camera scheduling

随着相机价格的降低，许多类型的带有相机的控制和测量系统盛行。为了提高控制性能或测量精度，一个有效的解决方案是在系统上配备多个摄像头。然而，系统中有多个摄像头会导致需要处理大量数据。在大多数情况下，摄像机获取的数据量比其他类型传感器的数据量大，因此需要对大量的信息进行处理，解决这一问题的方法之一是每次动态选择用于控制的图像，这称为传感器调度。在这项研究中，我们重点研究了多摄像头自动飞行控制。提出了由多个摄像头组成的传感器网络(以下简称摄像头网络)的传感器调度算法，考虑了相关问题，并利用摄像头网络对小型RC直升机进行了自动控制。

Many types of control and measurement systems with cameras are prevailing with price reduction of cameras. To improve control performance or measurement accuracy, an effective solution is to equip with multiple cameras on the system. However, having multiple cameras in the system result in large data to process. Therefore it is necessary to process a large amount of information since data size obtained by cameras are larger than that by other type of sensors in most cases.One of the approaches to solve this problem is to select images used for control dynamically at eachtime, which is called sensor scheduling. In this research, we have focused on automatic flight control with multiple cameras. We have proposed sensor scheduling algorithm for sensor network consisting of multiple cameras (we will call it camera network), considered related problems, and performed automatic controlling of a small RC helicopter with the camera network.