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The paper deals with monocular image-based sense and avoid assuming constant aircraft velocities and straight flight paths. From very limited two dimensional image information it finally characterizes the whole three dimensional collision situation by estimating the time to closest point of approach, the horizontal relative distance and its direction and the vertical relative distance also. The distances...
This paper deals with monocular image-based aircraft Sense and Avoid for small UAVs. After summarizing previous results of the authors it proposes a complete solution which calculates time to closest point of approach, relative closest point of approach (CPA) and the direction of intruder at CPA. These parameters are enough to make a collision decision and design the avoidance maneuver. The applicability...
This paper deals with monocular image-based time-to-collision (TTC) and closest point of approach (CPA) estimation for aircraft sense and avoid. First, it proposes a disc-based pinhole camera projection model which can better represent a real 3D object. Then it proposes simple least squares optimal line fitting-based techniques for TTC and CPA estimation based-on measurable image parameters only....
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