elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Vision-based navigation and exploration strategies for unmanned helicopters in disaster scenarios

Andert, Franz and Bäthge, Florian and Frehse, Steffen and Dittrich, Jörg (2013) Vision-based navigation and exploration strategies for unmanned helicopters in disaster scenarios. AHS International Specialists’ Meeting on Unmanned Rotorcraft, 22.-24. Jan. 2013, Scottsdale, AZ, USA.

Full text not available from this repository.

Official URL: http://www.vtol.org/

Abstract

This paper presents two vision-based aspects to solve problems for unmanned aircraft within disaster scenarios. Such scenarios are often related to low-altitude flights in urban or mountainous areas where satellite navigation can be disturbed. To cope for possible signal dropouts and to enable flights with low-cost inertial systems, visual navigation strategies are developed. The paper presents a method to get 3D movements from a stereo camera onboard an unmanned helicopter, evaluates the image processing algorithms from flight test data, and concludes that this visual navigation strategy is suitable as an additional sensor for flight state estimation. The other aspect tackled in this paper is the localization of target coordinates within exploration missions. The presented algorithm is based on known strategies in remote sensing. It is optimized here for real-time use onboard remotely operated systems. It is shown that targets can be localized with only few meters of absolute error without any external hints, with satellite navigation as the most relevant error source. As a result, supporting applications like the localization of victims are feasible with the presented strategy.

Item URL in elib:https://elib.dlr.de/80773/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Vision-based navigation and exploration strategies for unmanned helicopters in disaster scenarios
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Andert, FranzFT-ULFUNSPECIFIED
Bäthge, FlorianFT-ULFUNSPECIFIED
Frehse, SteffenFT-ULFUNSPECIFIED
Dittrich, JörgFT-ULFUNSPECIFIED
Date:23 January 2013
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:unmanned helicopter, vision-based navigation, 3D triangulation
Event Title:AHS International Specialists’ Meeting on Unmanned Rotorcraft
Event Location:Scottsdale, AZ, USA
Event Type:international Conference
Event Dates:22.-24. Jan. 2013
Organizer:American Helicopter Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Rotorcraft (old)
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Smart Rotorcraft (old)
Location: Braunschweig
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:20 Feb 2013 12:20
Last Modified:20 Feb 2013 12:20

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.