The recent interest in the use of machine vision for flight vehicle guidance is motivated by the need to automate the nap-of-the-earth flight regime of helicopters. Vision-based stereo ranging problem is cast as an optimal control problem in this paper. A quadratic performance index consisting of the integral of the error between observed image irradiances and those predicted by a Pade approximation of the correspondence hypothesis is then used to define an optimization problem. The necessary conditions for optimality yield a set of linear two-point boundary-value problems. These two-point boundary-value problems are solved in feedback form using a version of the backward sweep method. Application of the ranging algorithm is illustrated using a laboratory image pair.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Vision-based stereo ranging as an optimal control problem


    Contributors:

    Conference:

    AIAA Guidance, Navigation and Control Conference ; 1992 ; Hilton Head Island, SC, United States


    Publication date :

    1992-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Vision-based stereo ranging as an optimal control problem

    MENON, P. / SRIDHAR, B. / CHATTERJI, G. | AIAA | 1992


    STEREO RANGE FINDER, STEREO RANGING METHOD AND STEREO RANGING PROGRAM

    ONOMURA YOICHI | European Patent Office | 2018

    Free access

    Active Vision for Reliable Ranging: Cooperating Focus, Stereo, and Vergence

    Krotkov, E. / Bajcsy, R. | British Library Online Contents | 1993