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Visual odometry and mapping methods can provide accurate navigation and comprehensive environment (obstacle) information for autonomous flights of Unmanned Aerial Vehicle (UAV) in GPS-denied cluttered environments. This work presents a new light small-scale low-cost ARM-based stereo vision pre-processing system, which not only is used as onboard sensor to continuously estimate 6-DOF UAV pose, but...
This paper presents an adaptation of the Cross-Entropy (CE) method to optimize fuzzy logic controllers. The CE is a recently developed optimization method based on a general Monte-Carlo approach to combinatorial and continuous multi-extremal optimization and importance sampling. This work shows the application of this optimization method to optimize the inputs gains, the location and size of the different...
The importance of vision-based systems for Sense-and-Avoid is increasing nowadays as remotely piloted and autonomous UAVs become part of the non-segregated airspace. The development and evaluation of these systems demand flight scenario images which are expensive and risky to obtain. Currently Augmented Reality techniques allow the compositing of real flight scenario images with 3D aircraft models...
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