Abstract
Wide-field optical flow information can benefit the navigation of small or micro unmanned aerial vehicles in GPS-degraded/denied environments, inspired by the study of insect/bird flights. This paper focuses on a flight-test evaluation of navigation information in wide-field optical flow, using flight data collected by a wide-angle camera installed on a fixed-wing unmanned aerial vehicle at altitudes ranging from 30 to 183 m above the ground. A comprehensive evaluation methodology is proposed for the comparison between optical flows computed from videos and the reference motion fields determined from conventional navigation sensors including GPS, a laser range finder, and inertial sensors. Seven setsofunmanned aerial vehicle flight data including a total of approximately 72,000 image frames are used for both full-flight temporal evaluation and representative interframe spatial evaluation of wide-field optical flow information for unmanned aerial vehicle navigation purposes. The evaluation results showed a good match between vision-derived optical flows and reference motion fields from conventional navigation sensors. Finally, one benchmark data set is shared at the authors' website for open access from the research community.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 419-432 |
| Number of pages | 14 |
| Journal | Journal of Aerospace Information Systems |
| Volume | 13 |
| Issue number | 11 |
| DOIs | |
| State | Published - Jan 1 2016 |
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All Science Journal Classification (ASJC) codes
- Aerospace Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
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Flight-test evaluation of navigation information in wide-field optical flow. / Chao, Haiyang; Gu, Yu; Gross, Jason; Rhudy, Matthew; Napolitano, Marcello.
In: Journal of Aerospace Information Systems, Vol. 13, No. 11, 01.01.2016, p. 419-432.Research output: Contribution to journal › Article
TY - JOUR
T1 - Flight-test evaluation of navigation information in wide-field optical flow
AU - Chao, Haiyang
AU - Gu, Yu
AU - Gross, Jason
AU - Rhudy, Matthew
AU - Napolitano, Marcello
PY - 2016/1/1
Y1 - 2016/1/1
N2 - Wide-field optical flow information can benefit the navigation of small or micro unmanned aerial vehicles in GPS-degraded/denied environments, inspired by the study of insect/bird flights. This paper focuses on a flight-test evaluation of navigation information in wide-field optical flow, using flight data collected by a wide-angle camera installed on a fixed-wing unmanned aerial vehicle at altitudes ranging from 30 to 183 m above the ground. A comprehensive evaluation methodology is proposed for the comparison between optical flows computed from videos and the reference motion fields determined from conventional navigation sensors including GPS, a laser range finder, and inertial sensors. Seven setsofunmanned aerial vehicle flight data including a total of approximately 72,000 image frames are used for both full-flight temporal evaluation and representative interframe spatial evaluation of wide-field optical flow information for unmanned aerial vehicle navigation purposes. The evaluation results showed a good match between vision-derived optical flows and reference motion fields from conventional navigation sensors. Finally, one benchmark data set is shared at the authors' website for open access from the research community.
AB - Wide-field optical flow information can benefit the navigation of small or micro unmanned aerial vehicles in GPS-degraded/denied environments, inspired by the study of insect/bird flights. This paper focuses on a flight-test evaluation of navigation information in wide-field optical flow, using flight data collected by a wide-angle camera installed on a fixed-wing unmanned aerial vehicle at altitudes ranging from 30 to 183 m above the ground. A comprehensive evaluation methodology is proposed for the comparison between optical flows computed from videos and the reference motion fields determined from conventional navigation sensors including GPS, a laser range finder, and inertial sensors. Seven setsofunmanned aerial vehicle flight data including a total of approximately 72,000 image frames are used for both full-flight temporal evaluation and representative interframe spatial evaluation of wide-field optical flow information for unmanned aerial vehicle navigation purposes. The evaluation results showed a good match between vision-derived optical flows and reference motion fields from conventional navigation sensors. Finally, one benchmark data set is shared at the authors' website for open access from the research community.
UR - http://www.scopus.com/inward/record.url?scp=85012165268&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85012165268&partnerID=8YFLogxK
U2 - 10.2514/1.I010482
DO - 10.2514/1.I010482
M3 - Article
AN - SCOPUS:85012165268
VL - 13
SP - 419
EP - 432
JO - Journal of Aerospace Information Systems
JF - Journal of Aerospace Information Systems
SN - 1542-9423
IS - 11
ER -