Autonomous Vision-based Rotorcraft Landing and Accurate Aerial Terrain Mapping in an Unknown Environment

Todd Templeton

EECS Department, University of California, Berkeley

Technical Report No. UCB/EECS-2007-18

January 22, 2007

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http://www2.eecs.berkeley.edu/Pubs/TechRpts/2007/Archive/EECS-2007-18.pdf

In this report, we present research toward a vision-based landing system for unmanned rotorcraft in unknown terrain that is centered around our Recursive Multi-Frame Planar Parallax algorithm for high-accuracy terrain mapping. We give an in-depth description of the vision system, an overview of our experimental platforms, and both synthetic and experimental terrain mapping results.

Advisors: S. Shankar Sastry

BibTeX citation:

@mastersthesis{Templeton:EECS-2007-18,
    Author= {Templeton, Todd},
    Title= {Autonomous Vision-based Rotorcraft Landing and Accurate Aerial Terrain Mapping in an Unknown Environment},
    School= {EECS Department, University of California, Berkeley},
    Year= {2007},
    Month= {Jan},
    Url= {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2007/EECS-2007-18.html},
    Number= {UCB/EECS-2007-18},
    Abstract= {In this report, we present research toward a vision-based landing system for unmanned rotorcraft in unknown terrain that is centered around our Recursive Multi-Frame Planar Parallax algorithm for high-accuracy terrain mapping. We give an in-depth description of the vision system, an overview of our experimental platforms, and both synthetic and experimental terrain mapping results.},
}

EndNote citation:

%0 Thesis
%A Templeton, Todd 
%T Autonomous Vision-based Rotorcraft Landing and Accurate Aerial Terrain Mapping in an Unknown Environment
%I EECS Department, University of California, Berkeley
%D 2007
%8 January 22
%@ UCB/EECS-2007-18
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2007/EECS-2007-18.html
%F Templeton:EECS-2007-18