Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

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

http://www.eecs.berkeley.edu/Pubs/TechRpts/2007/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.

Advisor: 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://www.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://www.eecs.berkeley.edu/Pubs/TechRpts/2007/EECS-2007-18.html
%F Templeton:EECS-2007-18