A unified strategy for landing and docking using spherical flow divergence
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]
|Collections||ANU Research Publications|
|Source:||IEEE Transactions on Pattern Analysis and Machine Intelligence|
|01_McCarthy _A_unified_strategy_for_landing_2012.pdf||3.04 MB||Adobe PDF||Request a copy|
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.