Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance
- Smith, Phillip N.
- Oct 1, 1990.
- Physical Description:
- 1 electronic document
- hdl.handle.net , Connect to this object online.
- Restrictions on Access:
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access
- The automation of low-altitude rotorcraft flight depends on the ability to detect, locate, and navigate around obstacles lying in the rotorcraft's intended flightpath. Computer vision techniques provide a passive method of obstacle detection and range estimation, for obstacle avoidance. Several algorithms based on computer vision methods have been developed for this purpose using laboratory data; however, further development and validation of candidate algorithms require data collected from rotorcraft flight. A data base containing low-altitude imagery augmented with the rotorcraft and sensor parameters required for passive range estimation is not readily available. Here, the emphasis is on the methodology used to develop such a data base from flight-test data consisting of imagery, rotorcraft and sensor parameters, and ground-truth range measurements. As part of the data preparation, a technique for obtaining the sensor calibration parameters is described. The data base will enable the further development of algorithms for computer vision-based obstacle detection and passive range estimation, as well as provide a benchmark for verification of range estimates against ground-truth measurements.
- Other Subject(s):
- NASA Technical Reports Server (NTRS) Collection.
- Document ID: 19910005009.
Accession ID: 91N14322.
Annual Forum and Technology Display of the American Helicopter Society; 21-23 May 1990; Washington, DC; United States.
- No Copyright.
View MARC record | catkey: 15683410