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Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidance

Author:
Smith, Phillip N.
Published:
Oct 1, 1990.
Physical Description:
1 electronic document
Online Version

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Summary:
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):
Collection:
NASA Technical Reports Server (NTRS) Collection.
Note:
Document ID: 19910005009.
Accession ID: 91N14322.
NAS 1.15:102809.
NASA-TM-102809.
A-90124.
Annual Forum and Technology Display of the American Helicopter Society; 21-23 May 1990; Washington, DC; United States.
Terms of Use and Reproduction:
No Copyright.
View MARC record | catkey: 15683410