Autonomous Vision-based Rotorcraft Landing and Accurate Aerial Terrain Mapping in an Unknown Environment

Authors:
Templeton, Todd Russell
Technical Report Identifier: EECS-2007-18
January 22, 2007

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.