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Vision-based range estimation using helicopter flight dataPilot aiding during low-altitude flight depends on the ability to detect and locate obstacles near the helicopter's intended flightpath. Computer-vision-based methods provide one general approach for obstacle detection and range estimation. Several algorithms have been developed for this purpose, but have not been tested with actual flight data. This paper presents results obtained using helicopter flight data with a feature-based range estimation algorithm. A method for recursively estimating range using a Kalman filter with a monocular sequence of images and knowledge of the camera's motion is described. The helicopter flight experiment and one of four resulting datasets is briefly discussed. Finally the performance of the range estimation algorithm is explored based on comparison of the range estimates with true range measurements collected during the flight experiment.
Document ID
19930033504
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Smith, Phillip N.
(NASA Ames Research Center Moffett Field, CA, United States)
Sridhar, Banavar
(NASA Ames Research Center Moffett Field, CA, United States)
Hussein, Bassam
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1992
Publication Information
Publisher: Institute of Electrical and Electronics Engineers, Inc.
Subject Category
Aircraft Communications And Navigation
Accession Number
93A17501
Distribution Limits
Public
Copyright
Other

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