TY - GEN
T1 - A vision navigation algorithm for MAVs attitude estimation based on radon transformation
AU - Xu, Cheng
AU - Qun, Hao
AU - Yong, Song
AU - Yao, Hu
PY - 2009
Y1 - 2009
N2 - Utilizing the horizon in the nature, the navigation parameters for Micro air vehicles (MAVs) stabilization can be calculated by using the method of image processing. In this paper, a method based on Radon transformation is proposed to detect the horizon. After determining the linear equation of the horizon, the roll angle can be calculated by the slope of the linear equation. The pitch angle can be measured by a method of "pitch distance" proposed in the paper. The proposed method makes full use of the edge information. Therefore, it can detect the horizon accurately without being confused by the barrier above the ground. Comparing with the method using sky area ratio, the method using "pitch distance" can reflect the real changes of pitch angle by means of eliminating the effect of roll angle. Theoretical analysis and experimental results demonstrate that the vision navigation algorithm is accurate and reasonable.
AB - Utilizing the horizon in the nature, the navigation parameters for Micro air vehicles (MAVs) stabilization can be calculated by using the method of image processing. In this paper, a method based on Radon transformation is proposed to detect the horizon. After determining the linear equation of the horizon, the roll angle can be calculated by the slope of the linear equation. The pitch angle can be measured by a method of "pitch distance" proposed in the paper. The proposed method makes full use of the edge information. Therefore, it can detect the horizon accurately without being confused by the barrier above the ground. Comparing with the method using sky area ratio, the method using "pitch distance" can reflect the real changes of pitch angle by means of eliminating the effect of roll angle. Theoretical analysis and experimental results demonstrate that the vision navigation algorithm is accurate and reasonable.
KW - Image processing
KW - MAVs
KW - Pitch distance
KW - Radon transformation
KW - Vision navigation
UR - http://www.scopus.com/inward/record.url?scp=73849120790&partnerID=8YFLogxK
U2 - 10.1109/CISP.2009.5303378
DO - 10.1109/CISP.2009.5303378
M3 - Conference contribution
AN - SCOPUS:73849120790
SN - 9781424441310
T3 - Proceedings of the 2009 2nd International Congress on Image and Signal Processing, CISP'09
BT - Proceedings of the 2009 2nd International Congress on Image and Signal Processing, CISP'09
T2 - 2009 2nd International Congress on Image and Signal Processing, CISP'09
Y2 - 17 October 2009 through 19 October 2009
ER -