Loading...

Optimum Camera Position for UAV Vertical Plane Maneuvers

Zarei Jalal Abadi, Mahboube | 2011

835 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 42518 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Malaek, Mohammad Bagher
  7. Abstract:
  8. This work presents the methodology to investigate Optimum Camera Installation Angle (OCIA)while employing the so called?Vision Based Navigation (VBN)? in urban areas.The approach is suitable for future general aviation aircraft as envisioned in Small Air Transportation System (SATS) as well as Unmanned Aerial Vehicles (UAV).Due to practical constraints, the work is limited to the maneuvers in the vertical plane while conducting Simultaneous Localization and Mapping (SLAM) technique.This technique was originated in robotics and is commonly used to guide both ground based and low speed aerial robots in unknown environments involving different types of obstacles. A variety of camera installation angle have been proposed in the literature; nevertheless, none with any type of optimality.This work,however, systematically discusses the effects of aircraft speed; altitude and obstacle’s height on OCIA. Different case-studies show that proper camera installation angle at different speeds play a key role in the performance of landmark recognition and obstacle avoidance. Moreover, Monte-Carlo simulations show the optimum camera angle remains between 30 and 45 degrees with respect the vertical while flying in a cluttered environment.her investigation might be needed for the aircraft with thrust-vectoring capabilities which allows rapid ascend and descent
  9. Keywords:
  10. Vision Guidance ; Camera Installation Angle ; Small Air Transportation System (SATS) ; Symptoms ; Unmanned Aircrafts ; Simultaneous Localization and Mapping (SLAM)

 Digital Object List

 Bookmark

No TOC