Fusion of unmanned aerial vehicle range and vision sensors using fuzzy logic and particles

Gregory L. Sinsley, Lyle N. Long, Brian R. Geiger, Joseph F. Horn, Albert F. Niessner

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

This paper presents a novel method for fusing data from a UAV's range and vision sensors. The range sensor is used to build an elevation map of the flying area. Fuzzy logic is used to detect red barrels in camera images. The world location of a target on the ground is found by fusing the terrain map with image data using both an extended Kalman filter and a particle filter. The target detection system has been tested using images collected onboard a UAV. The terrain mapping system and the fusion system were both tested in simulation.

Original languageEnglish (US)
Title of host publicationAIAA Infotech at Aerospace Conference and Exhibit and AIAA Unmanned...Unlimited Conference
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479717
DOIs
StatePublished - 2009

Publication series

NameAIAA Infotech at Aerospace Conference and Exhibit and AIAA Unmanned...Unlimited Conference

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Industrial and Manufacturing Engineering

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