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A unified strategy for landing and docking using spherical flow divergence

McCarthy , Christopher; Barnes, Nick


We present a new visual control input from optical flow divergence enabling the design of novel, unified control laws for docking and landing. While divergence-based time-to-contact estimation is well understood, the use of divergence in visual control currently assumes knowledge of surface orientation, and/or egomotion. There exists no directly observable visual cue capable of supporting approaches to surfaces of arbitrary orientation under general motion. Central to our measure is the use of...[Show more]

CollectionsANU Research Publications
Date published: 2012
Type: Journal article
Source: IEEE Transactions on Pattern Analysis and Machine Intelligence
DOI: 10.1109/TPAMI.2012.27


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