Abstract
We design a feature-based model to estimate and predict the free height of a fixed-wing drone flying at altitudes up to 100 meters above terrain using the stereo vision principles and a one-dimensional Kalman filter. We design this using a single RGB camera to assess the viability of sequential images for height estimation, and to assess which issues and pitfalls are likely to affect such a system. This model is tested on both simulation data flying above flat and varying terrain, as well as data from a real test flight. Simulation RMSE ranges from 10.7% to 21.0% of maximum flying height. Real estimates vary significantly more, resulting in an RMSE of 27.55% of median flying height of one test flight. Best MAE was roughly 17%, indicating the error to expect from the system. We conclude that feature-based detection appears to be too heavily influenced by noise introduced by the drone and other uncontrollable parameters to be used in reliable height estimation.
Originalsprog | Engelsk |
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Titel | Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications |
Redaktører | Andreas Kerren, Christophe Hurter, Jose Braz |
Antal sider | 9 |
Vol/bind | 5 |
Forlag | SCITEPRESS Digital Library |
Publikationsdato | feb. 2019 |
Sider | 751-759 |
ISBN (Elektronisk) | 978-989-758-354-4 |
DOI | |
Status | Udgivet - feb. 2019 |
Begivenhed | 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (Visigrapp 2019) - Prague, Tjekkiet Varighed: 25 feb. 2019 → 27 feb. 2019 |
Konference
Konference | 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (Visigrapp 2019) |
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Land/Område | Tjekkiet |
By | Prague |
Periode | 25/02/2019 → 27/02/2019 |