Search results for "Ground plane"
showing 3 items of 3 documents
A Geometrical Approach for Vision Based Attitude and Altitude Estimation for UAVs in Dark Environments
2012
International audience; This paper presents a single camera and laser system dedicated to the realtime estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low illumination conditions to dark environments. The fisheye camera allows to cover a large field of view (FOV). The approach, close to structured light systems, uses the geometrical information obtained by the projection of a laser circle onto the ground plane and perceived by the camera. We propose some experiments based on simulated data and real sequences. The results show good agreement with the ground truth values from the commercial sensors in terms of its accuracy and correctness. The results also prove i…
Vision based attitude and altitude estimation for UAVs in dark environments
2011
This paper presents a system dedicated to the real-time estimation of attitude and altitude for unmanned aerial vehicles (UAV) under low light and dark environment. This system consists in a fisheye camera, which allows to cover a large field of view (FOV), and a laser circle projector mounted on a fixed baseline. The approach, close to structured light systems, uses the geometrical information obtained by the projection of the laser circle onto the ground plane and perceived by the camera. We present a theoretical study of the system in which the camera is modelled as a sphere and show that the estimation of a conic on this sphere allows to obtain the attitude and the altitude of the robot…
Scaler mode technique for the ARGO-YBJ detector
2008
The ARGO-YBJ experiment has been designed to study the Extensive Air Showers with an energy threshold lower than that of the existing arrays by exploiting the high altitude location(4300 m a.s.l. in Tibet, P.R. China) and the full ground plane coverage. The lower energy limit of the detector (E $\sim$ 1 GeV) is reached by the scaler mode technique, i.e. recording the counting rate at fixed time intervals. At these energies, transient signals due to local (e.g. Forbush Decreases) and cosmological (e.g. Gamma Ray Bursts) phenomena are expected as a significant variation of the counting rate compared to the background. In this paper the performance of the ARGO-YBJ detector operating in scaler …