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A stereo vision system for UAV guidance

This study describes a novel, vision-based system for guidance of UAVs. The system uses two cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a cylindrical co-ordinate system that simplifies and speeds up range computations, and defines a collision-free cylinder through which the aircraft can pass without encountering obstacles. The result is a computationally efficient approach to vision-based aircraft guidance that is particularly suited to terrain and gorge following, obstacle avoidance, and landing. The feasibility of the system is demonstrated in laboratory and field tests.