Autonomous detection of safe landing areas for an UAV from monocular images

被引：33

作者：

Bosch, Sebastien ^{[1
]}

Lacroix, Simon ^{[1
]}

Caballero, Fernando ^{[2
]}

机构：

[1] CNRS, LAAS, F-31077 Toulouse, France

[2] Univ Seville, Robot Comp Vis & Intelligent Control Grp, Seville, Spain

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282188

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an approach to detect safe landing areas for a flying robot, on the basis of a sequence of monocular images. The approach does not require precise position and attitude sensors: it exploits the relations between 2D image homographies and 3D planes. The combination of a robust homography estimation and of an adaptive thresholding of correlation scores between registered images yields the update of a stochastic grid, that exhibits the horizontal planar areas perceived. This grid allows the integration of data gathered at various altitudes. Results are presented throughout the article.

引用

页码：5522 / +

页数：2