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�������պ����ѧѧ�� 2007, Vol. 33 Issue (11) :1313-1316    DOI:
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Vision-based runway obstacle detection scheme for unmanned combat aerial vehicles
Chen Lei, Chen Zongji*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� A computer-vision-based runway obstacle detection scheme for an unmanned combat air vehicle (UCAV) was presented. The scheme combined the advantages of the feature-based and the flow-based obstacle detection algorithms. Instead of using gradient-based method, a multi-scale optical flow estimation method based on feature point matching was adopted, which make it possible to calculate sparse optical flow field directly from image sequences. Under some relative hypothesis, obstacle on the runway could be detected even with certain navigation errors. The detection sensitivity and the stage applicable for obstacle detection were also discussed. The obstacle detection scheme can run properly on the real-time simulation system for autonomous landing of the UCAV.
Keywords�� unmanned combat air vehicle   computer vision   obstacle detection   optical flow   navigation system     
Received 2006-12-11;
Fund:

973���Ұ�ȫ�ش����������Ŀ;����װ��Ԥ�л���������Ŀ(9140A25040106HK0118)

About author: �� ��(1976��),��,������,��ʿ��,roger@buaa.edu.cn.
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����,���ڻ�.�����Ӿ���������ս�ɻ��ܵ��ϰ����ⷽ��[J]  �������պ����ѧѧ��, 2007,V33(11): 1313-1316
Chen Lei, Chen Zongji.Vision-based runway obstacle detection scheme for unmanned combat aerial vehicles[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(11): 1313-1316
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