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A See-Ability Metric To Improve Mini Unmanned Aerial Vehicle Operator Awareness Using Video Georegistered To Terrain Models, Cameron Howard Engh
A See-Ability Metric To Improve Mini Unmanned Aerial Vehicle Operator Awareness Using Video Georegistered To Terrain Models, Cameron Howard Engh
Theses and Dissertations
Search and rescue operations conducted in wilderness environments can be greatly aided by the use of video filmed from mini-UAVs. While lightweight, inexpensive and easily transportable, these small aircraft suffer from wind buffeting and may produce video that is difficult to search. To aid in the video search process, we have created a system to project video frames into a 3D representation of the search region. This projection allows us to tie each frame of video to a real-world location, enabling a myriad of novel views, mosaics and metrics that can be used to guide the search including a new …
Vision-Assisted Control Of A Hovering Air Vehicle In An Indoor Setting, Neil G. Johnson
Vision-Assisted Control Of A Hovering Air Vehicle In An Indoor Setting, Neil G. Johnson
Theses and Dissertations
The quadrotor helicopter is a unique flying vehicle which uses the thrust from four motors to provide hover flight capability. The uncoupled nature of the longitudinal and lateral axes and its ability to support large payloads with respect to its size make it an attractive vehicle for autonomous vehicle research. In this thesis, the quadrotor is modeled based on first principles and a proportional-derivative control method is applied for attitude stabilization and position control. A unique means of using an optic flow sensor for velocity and position estimation in an indoor setting is presented with flight results. Reliable hover flight …
Real-Time Forward Urban Environment Perception For An Autonomous Ground Vehicle Using Computer Vision And Lidar, Christopher Richard Greco
Real-Time Forward Urban Environment Perception For An Autonomous Ground Vehicle Using Computer Vision And Lidar, Christopher Richard Greco
Theses and Dissertations
The field of autonomous vehicle research is growing rapidly. The Congressional mandate for the military to use unmanned vehicles has, in large part, sparked this growth. In conjunction with this mandate, DARPA sponsored the Urban Challenge, a competition to create fully autonomous vehicles that can operate in urban settings. An extremely important feature of autonomous vehicles, especially in urban locations, is their ability to perceive their environment. The research presented in this thesis is directed toward providing an autonomous vehicle with real-time data that efficiently and compactly represents its forward environment as it navigates an urban area. The information extracted …
Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Theses and Dissertations
A series of simplified scenarios is investigated whereby an optical flow balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view (FOV) limitations, then applying FOV restrictions, …