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Authors: Nicklas Christensen ; Frederik Falk ; Oliver Hjermitslev and Rikke Gade

Affiliation: Aalborg University and Denmark

ISBN: 978-989-758-354-4

ISSN: 2184-4321

Keyword(s): UAV, Drone, Free Height Estimation, Stereo Equation, Computer Vision, Feature Detection.

Related Ontology Subjects/Areas/Topics: Computer Vision, Visualization and Computer Graphics ; Motion, Tracking and Stereo Vision ; Stereo Vision and Structure from Motion ; Tracking and Visual Navigation

Abstract: We design a feature-based model to estimate and predict the free height of a fixed-wing drone flying at altitudes up to 100 meters above terrain using the stereo vision principles and a one-dimensional Kalman filter. We design this using a single RGB camera to assess the viability of sequential images for height estimation, and to assess which issues and pitfalls are likely to affect such a system. This model is tested on both simulation data flying above flat and varying terrain, as well as data from a real test flight. Simulation RMSE ranges from 10.7% to 21.0% of maximum flying height. Real estimates vary significantly more, resulting in an RMSE of 27.55% of median flying height of one test flight. Best MAE was roughly 17%, indicating the error to expect from the system. We conclude that feature-based detection appears to be too heavily influenced by noise introduced by the drone and other uncontrollable parameters to be used in reliable height estimation.

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Paper citation in several formats:
Christensen, N.; Falk, F.; Hjermitslev, O. and Gade, R. (2019). Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones.In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP, ISBN 978-989-758-354-4, ISSN 2184-4321, pages 751-759. DOI: 10.5220/0007256107510759

@conference{visapp19,
author={Nicklas Haagh Christensen. and Frederik Falk. and Oliver Gyldenberg Hjermitslev. and Rikke Gade.},
title={Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP,},
year={2019},
pages={751-759},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007256107510759},
isbn={978-989-758-354-4},
}

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - Volume 5 VISAPP: VISAPP,
TI - Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones
SN - 978-989-758-354-4
AU - Christensen, N.
AU - Falk, F.
AU - Hjermitslev, O.
AU - Gade, R.
PY - 2019
SP - 751
EP - 759
DO - 10.5220/0007256107510759

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