Optic-Flow Based Slope Estimation for Autonomous Landing

摘要

Micro Air Vehicles need to have a robust landing capability, especially when they operate outside line-of-sight. Autonomous landing requires the identification of a relatively flat landing surface that does not have too large an inclination. In this article, a vision algorithm is introduced that fits a second-order approximation to the optic flow field underlying the optic flow vectors in images from a bottom camera. The flow field provides information on the ventral flow ( V x /h), the time-to-contact ( h/ – V z ), the flatness of the landing surface, and the surface slope. The algorithm is computationally efficient and since it regards the flow field as a whole, it is suitable for use during relatively fast maneuvers. The algorithm is subsequently tested on artificial image sequences, hand-held videos, and on the images made by a Parrot AR drone. In a preliminary robotic experiment, the AR drone uses the vision algorithm to determine when to land in a scenario where it flies off a stairs onto the flat floor.