Collision Avoidance for UAVs Using Optic Flow Measurement with Line of Sight Rate Equalization and Looming

0 avg rating
( 0 ratings by Goodreads )
 
9781288307876: Collision Avoidance for UAVs Using Optic Flow Measurement with Line of Sight Rate Equalization and Looming
View all copies of this ISBN edition:
 
 

A series of simplified scenarios is investigated whereby an optical flow - balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view(FOV) limitations, then applying FOV restrictions, and adding features or obstacles in the scene. These analyses show that using a guidance law that equalizes the line of sight rates with no FOV limitations, actually results in the vehicle being steered into one of the objects for all initial conditions. The research next develops an obstacle avoidance strategy based on equilibrating the optic flow generated by the obstacles and presents an analysis that leads to a different conclusion in which balancing the optic flows does avoid the obstacles. The paper then describes a set of guidance methods that with real FOV limitations create a favorable result. Finally, the looming of an object in the camera's FOV can be measured and used for synthesizing a collision avoidance guidance law. For the simple 2-D case, looming is quantified as an increase in LOS between two features on a wall in front of the air vehicle. The 2-D guidance law for equalizing the optic flow and looming detection is then extended into the 3-D case. Then a set of 3-D scenarios are further explored using a decoupled two channel approach. In addition, a comparison of two image segmentation techniques that are used to find optic flow vectors is presented.

"synopsis" may belong to another edition of this title.

Buy New View Book
List Price: US$ 49.00
US$ 28.85

Convert currency

Shipping: US$ 3.21
From Germany to U.S.A.

Destination, rates & speeds

Add to Basket

Top Search Results from the AbeBooks Marketplace

1.

Paul J. Shelnutt
Published by BiblioScholar (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Softcover Quantity Available: 15
Print on Demand
Seller:
Rating
[?]

Book Description BiblioScholar, 2012. Condition: New. This item is printed on demand for shipment within 3 working days. Seller Inventory # LP9781288307876

More information about this seller | Contact this seller

Buy New
US$ 28.85
Convert currency

Add to Basket

Shipping: US$ 3.21
From Germany to U.S.A.
Destination, rates & speeds

2.

Paul J Shelnutt
Published by Biblioscholar, United States (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Paperback Quantity Available: 10
Seller:
Book Depository hard to find
(London, United Kingdom)
Rating
[?]

Book Description Biblioscholar, United States, 2012. Paperback. Condition: New. Language: English . This book usually ship within 10-15 business days and we will endeavor to dispatch orders quicker than this where possible. Brand New Book. A series of simplified scenarios is investigated whereby an optical flow - balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view(FOV) limitations, then applying FOV restrictions, and adding features or obstacles in the scene. These analyses show that using a guidance law that equalizes the line of sight rates with no FOV limitations, actually results in the vehicle being steered into one of the objects for all initial conditions. The research next develops an obstacle avoidance strategy based on equilibrating the optic flow generated by the obstacles and presents an analysis that leads to a different conclusion in which balancing the optic flows does avoid the obstacles. The paper then describes a set of guidance methods that with real FOV limitations create a favorable result. Finally, the looming of an object in the camera s FOV can be measured and used for synthesizing a collision avoidance guidance law. For the simple 2-D case, looming is quantified as an increase in LOS between two features on a wall in front of the air vehicle. The 2-D guidance law for equalizing the optic flow and looming detection is then extended into the 3-D case. Then a set of 3-D scenarios are further explored using a decoupled two channel approach. In addition, a comparison of two image segmentation techniques that are used to find optic flow vectors is presented. Seller Inventory # LIE9781288307876

More information about this seller | Contact this seller

Buy New
US$ 33.03
Convert currency

Add to Basket

Shipping: FREE
From United Kingdom to U.S.A.
Destination, rates & speeds

3.

Paul J Shelnutt
Published by Biblioscholar, United States (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Paperback Quantity Available: 10
Print on Demand
Seller:
Book Depository International
(London, United Kingdom)
Rating
[?]

Book Description Biblioscholar, United States, 2012. Paperback. Condition: New. Language: English . Brand New Book ***** Print on Demand *****. A series of simplified scenarios is investigated whereby an optical flow - balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view(FOV) limitations, then applying FOV restrictions, and adding features or obstacles in the scene. These analyses show that using a guidance law that equalizes the line of sight rates with no FOV limitations, actually results in the vehicle being steered into one of the objects for all initial conditions. The research next develops an obstacle avoidance strategy based on equilibrating the optic flow generated by the obstacles and presents an analysis that leads to a different conclusion in which balancing the optic flows does avoid the obstacles. The paper then describes a set of guidance methods that with real FOV limitations create a favorable result. Finally, the looming of an object in the camera s FOV can be measured and used for synthesizing a collision avoidance guidance law. For the simple 2-D case, looming is quantified as an increase in LOS between two features on a wall in front of the air vehicle. The 2-D guidance law for equalizing the optic flow and looming detection is then extended into the 3-D case. Then a set of 3-D scenarios are further explored using a decoupled two channel approach. In addition, a comparison of two image segmentation techniques that are used to find optic flow vectors is presented. Seller Inventory # AAV9781288307876

More information about this seller | Contact this seller

Buy New
US$ 58.35
Convert currency

Add to Basket

Shipping: FREE
From United Kingdom to U.S.A.
Destination, rates & speeds

4.

Paul J Shelnutt
Published by Biblioscholar, United States (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Paperback Quantity Available: 10
Print on Demand
Seller:
The Book Depository
(London, United Kingdom)
Rating
[?]

Book Description Biblioscholar, United States, 2012. Paperback. Condition: New. Language: English . Brand New Book ***** Print on Demand *****.A series of simplified scenarios is investigated whereby an optical flow - balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view(FOV) limitations, then applying FOV restrictions, and adding features or obstacles in the scene. These analyses show that using a guidance law that equalizes the line of sight rates with no FOV limitations, actually results in the vehicle being steered into one of the objects for all initial conditions. The research next develops an obstacle avoidance strategy based on equilibrating the optic flow generated by the obstacles and presents an analysis that leads to a different conclusion in which balancing the optic flows does avoid the obstacles. The paper then describes a set of guidance methods that with real FOV limitations create a favorable result. Finally, the looming of an object in the camera s FOV can be measured and used for synthesizing a collision avoidance guidance law. For the simple 2-D case, looming is quantified as an increase in LOS between two features on a wall in front of the air vehicle. The 2-D guidance law for equalizing the optic flow and looming detection is then extended into the 3-D case. Then a set of 3-D scenarios are further explored using a decoupled two channel approach. In addition, a comparison of two image segmentation techniques that are used to find optic flow vectors is presented. Seller Inventory # AAV9781288307876

More information about this seller | Contact this seller

Buy New
US$ 60.08
Convert currency

Add to Basket

Shipping: FREE
From United Kingdom to U.S.A.
Destination, rates & speeds

5.

Shelnutt, Paul J.
Published by Biblioscholar (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Quantity Available: > 20
Print on Demand
Seller:
Pbshop
(Wood Dale, IL, U.S.A.)
Rating
[?]

Book Description Biblioscholar, 2012. PAP. Condition: New. New Book. Shipped from US within 10 to 14 business days. THIS BOOK IS PRINTED ON DEMAND. Established seller since 2000. Seller Inventory # IQ-9781288307876

More information about this seller | Contact this seller

Buy New
US$ 57.92
Convert currency

Add to Basket

Shipping: US$ 3.99
Within U.S.A.
Destination, rates & speeds

6.

Paul J Shelnutt
Published by Biblioscholar (2012)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Quantity Available: > 20
Print on Demand
Seller:
Books2Anywhere
(Fairford, GLOS, United Kingdom)
Rating
[?]

Book Description Biblioscholar, 2012. PAP. Condition: New. New Book. Delivered from our UK warehouse in 4 to 14 business days. THIS BOOK IS PRINTED ON DEMAND. Established seller since 2000. Seller Inventory # IQ-9781288307876

More information about this seller | Contact this seller

Buy New
US$ 50.62
Convert currency

Add to Basket

Shipping: US$ 11.90
From United Kingdom to U.S.A.
Destination, rates & speeds

7.

Shelnutt, Paul J.
Published by BiblioScholar (2016)
ISBN 10: 128830787X ISBN 13: 9781288307876
New Paperback Quantity Available: 1
Print on Demand
Seller:
Ria Christie Collections
(Uxbridge, United Kingdom)
Rating
[?]

Book Description BiblioScholar, 2016. Paperback. Condition: New. PRINT ON DEMAND Book; New; Publication Year 2016; Not Signed; Fast Shipping from the UK. No. book. Seller Inventory # ria9781288307876_lsuk

More information about this seller | Contact this seller

Buy New
US$ 59.84
Convert currency

Add to Basket

Shipping: US$ 5.12
From United Kingdom to U.S.A.
Destination, rates & speeds

8.

Paul J. Shelnutt
Published by BiblioScholar
ISBN 10: 128830787X ISBN 13: 9781288307876
New Paperback Quantity Available: > 20
Seller:
BuySomeBooks
(Las Vegas, NV, U.S.A.)
Rating
[?]

Book Description BiblioScholar. Paperback. Condition: New. 138 pages. Dimensions: 9.7in. x 7.4in. x 0.3in.A series of simplified scenarios is investigated whereby an optical flow - balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objectsobstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view(FOV) limitations, then applying FOV restrictions, and adding features or obstacles in the scene. These analyses show that using a guidance law that equalizes the line of sight rates with no FOV limitations, actually results in the vehicle being steered into one of the objects for all initial conditions. The research next develops an obstacle avoidance strategy based on equilibrating the optic flow generated by the obstacles and presents an analysis that leads to a different conclusion in which balancing the optic flows does avoid the obstacles. The paper then describes a set of guidance methods that with real FOV limitations create a favorable result. Finally, the looming of an object in the cameras FOV can be measured and used for synthesizing a collision avoidance guidance law. For the simple 2-D case, looming is quantified as an increase in LOS between two features on a wall in front of the air vehicle. The 2-D guidance law for equalizing the optic flow and looming detection is then extended into the 3-D case. Then a set of 3-D scenarios are further explored using a decoupled two channel approach. In addition, a comparison of two image segmentation techniques that are used to find optic flow vectors is presented. This item ships from multiple locations. Your book may arrive from Roseburg,OR, La Vergne,TN. Paperback. Seller Inventory # 9781288307876

More information about this seller | Contact this seller

Buy New
US$ 71.96
Convert currency

Add to Basket

Shipping: FREE
Within U.S.A.
Destination, rates & speeds