Flight data acquisition methodology for validation of passive ranging algorithms for obstacle avoidanceAn account is given of the methodology used to develop a data base containing low altitude imagery, augmented with the rotorcraft and sensor parameters required for passive-range estimation. The bata base is predicated on flight test data encompassing imagery, rotorcraft and sensor parameters, and ground truth range measurements. Data preparation was conducted by means of a novel technique for obtaining the sensor-calibration parameters. The data-base thus obtained will facilitate further development of computer vision-based obstacle-detection and passive range-estimation algorithms, as well as furnish a benchmark for verification of range estimates against ground-truth estimates.
Document ID
19910032599
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Smith, Phillip N. (NASA Ames Research Center Moffett Field, CA, United States)