Passive navigation using image irradiance trackingRotorcraft operating at low altitudes require navigational schemes for locating the terrain and obstacles. Due to the covert nature of missions to be accomplished, a passive navigation scheme is desirable. This paper describes the development of a passive navigation scheme combining image sequences from a vehicle mounted camera with vehicle motion variables. Geometric properties of perspective projection together with an image irradiance tracking scheme at each pixel are used to determine the range to various objects within the field-of-view. Derivation of the numerical algorithm and simulation results are given. Other applications of the proposed approach include navigation for autonomous planetary rovers and telerobots.
Document ID
19890065221
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Menon, P. K. A. (NASA Ames Research Center Moffett Field, CA, United States)
Sridhar, B. (NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Aircraft Communications And Navigation
Report/Patent Number
AIAA PAPER 89-3500
Meeting Information
Meeting: AIAA Guidance, Navigation and Control Conference