Fast horizon detection for airborne visual systems

Antal Hiba, Tamas Zsedrovits, Peter Bauer, A. Zarándy

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

1 Citation (Scopus)

Abstract

In this paper a fast horizon detection algorithm is introduced, which is run on an airborne visual system. It is important to run the horizon detection as fast as possible, and also with low power consumption. Hence we developed an algorithm, which has low complexity. The horizon detection uses attitude information provided by the flight control computer of the aircraft and it corrects the horizon based on the visual information from our airborne camera system. All calculations are run onboard, and the detected horizon is used in the sense-and-avoid task for sky-ground separation. The performance of the algorithm is measured in flight tests, which shows that it has superior performance compared to the horizon calculated from the attitude provided by the autopilot and also compared to the horizon calculated from the Euler angles given by our Kalman filter based attitude estimator. The measurements were run on videos from two cameras next to other sensors' information, which were recorded in November 2015. The videos were annotated by hand, which were used as a ground truth.

Original languageEnglish
Title of host publication2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages886-891
Number of pages6
ISBN (Electronic)9781467393331
DOIs
Publication statusPublished - Jun 30 2016
Event2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 - Arlington, United States
Duration: Jun 7 2016Jun 10 2016

Other

Other2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
CountryUnited States
CityArlington
Period6/7/166/10/16

Fingerprint

Cameras
Computer control
Kalman filters
Electric power utilization
Aircraft
Sensors

Keywords

  • Camera
  • FPGA
  • GPU
  • Horizon
  • Sense-and-Avoid
  • UAS
  • UAV
  • Visual

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

Cite this

Hiba, A., Zsedrovits, T., Bauer, P., & Zarándy, A. (2016). Fast horizon detection for airborne visual systems. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 (pp. 886-891). [7502661] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2016.7502661

Fast horizon detection for airborne visual systems. / Hiba, Antal; Zsedrovits, Tamas; Bauer, Peter; Zarándy, A.

2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 886-891 7502661.

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

Hiba, A, Zsedrovits, T, Bauer, P & Zarándy, A 2016, Fast horizon detection for airborne visual systems. in 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016., 7502661, Institute of Electrical and Electronics Engineers Inc., pp. 886-891, 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016, Arlington, United States, 6/7/16. https://doi.org/10.1109/ICUAS.2016.7502661
Hiba A, Zsedrovits T, Bauer P, Zarándy A. Fast horizon detection for airborne visual systems. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 886-891. 7502661 https://doi.org/10.1109/ICUAS.2016.7502661
Hiba, Antal ; Zsedrovits, Tamas ; Bauer, Peter ; Zarándy, A. / Fast horizon detection for airborne visual systems. 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 886-891
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