A fast algorithm for image-based ranging

Details A fast algorithm for image-based ranging A fast algorithm for image-based ranging

Jul 1991

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1991spie.1478..190m&link_type=abstract

In: Sensors and sensor systems for guidance and navigation; Proceedings of the Meeting, Orlando, FL, Apr. 2, 3, 1991 (A93-27043

Computer Science

Performance

Algorithms, Image Processing, Planetary Landing, Range Finders, Rotorcraft Aircraft, Pixels, Polynomials

Scientific paper

Image-based ranging has emerged as a critical issue in the low altitude operation of flight vehicles such as rotorcraft and planetary landers. These flight regimes require ranging systems for recovering the geometry of the terrain and obstacles for use with guidance algorithms. The development of a ranging equation combining image irradiance together with various order spatial partial derivatives and the vehicle motion parameters is discussed. The ranging equation is in the form of a polynomial in scene depth. Two-dimensional linear filters are then used to compute the coefficients of this polynomial to result in a fast image-based ranging algorithm. Performance of the algorithm is demonstrated using laboratory images.

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