Engineering Commons^™

Deep Visual Gravity Vector Detection For Unmanned Aircraft Attitude Estimation, Gary J. Ellingson, David Wingate, Tim Mclain

Faculty Publications

This paper demonstrates a feasible method for using a deep neural network as a sensor to estimate the attitude of a flying vehicle using only flight video. A dataset of still images and associated gravity vectors was collected and used to perform supervised learning. The network builds on a previously trained network and was trained to be able to approximate the attitude of the camera with an average error of about 8 degrees. Flight test video was recorded and processed with a relatively simple visual odometry method. The aircraft attitude is then estimated with the visual odometry as the state …