Suorsa, Ray | Search NASA

NASA NTRS1992

Vision-based obstacle detection for rotorcraft flight

An obstacle detection approach to rotorcraft flight is described which is based on feature tracking and recursive range estimation. Flight characteristics are taken into account. A range map derived on the basis of this approach provides an advisory display to the pilot and can serve as input to an automatic obstacle-avoidance guidance system. A NASA CH-47 Chinook helicopter was used to develop an image and rotorcraft flight data base for verification of obstacle detection concepts. The performance of the passive range estimation algorithms is demonstrated using both laboratory image and flight image data.

Sridhar, Banavar↗

NASA NTRS1991

Vision based techniques for rotorcraft low altitude flight

An overview of research in obstacle detection at NASA Ames Research Center is presented. The research applies techniques from computer vision to automation of rotorcraft navigation. The development of a methodology for detecting the range to obstacles based on the maximum utilization of passive sensors is emphasized. The development of a flight and image data base for verification of vision-based algorithms, and a passive ranging methodology tailored to the needs of helicopter flight are discussed. Preliminary results indicate that it is possible to obtain adequate range estimates except at regions close to the FOE. Closer to the FOE, the error in range increases since the magnitude of the disparity gets smaller, resulting in a low SNR.

Sridhar, Banavar↗