Imaging sensors for state estimation

Abstract

This chapter aims at the implementation of a vision system onboard the UAV, with the purpose of estimating the sates of the platform during flights. Theoretical background concerning computer vision is given in first instance. The pinhole camera model as well as the camera calibration procedure is shown. Stereo imaging, together with a method for stereo calibration and rectification are presented also. The concept of optical flow and a method for its computation are detailed. Relevant issues that must be considered when implementing an imaging system onboard a quad-rotor UAV are discussed. The development of both a monocular and a stereo imaging system are presented, as well as the software architecture conceived for estimating the data required for performing vision-based tasks.