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dc.contributor.authorParks, Matthew Raymonden_US

This paper describes a complete algorithm to estimate the motion of a fixed-wing aircraft given a series of digitized flight images. The algorithm was designed for fixed-wing aircraft because carefully procured flight images and corresponding navigation data were available to us for testing. After image pre-processing, optic flow data is determined by automatically finding and tracking good features between pairs of images. The image coordinates of matched features are then processed by a rigid-object linear optic flow-motion estimation algorithm. Input factors are weighed to provide good testing techniques. Error analysis is performed with simulation data keeping these factors in mind to determine the effectiveness of the optic flow algorithm. The output of this program is an estimate of rotation and translation of the imaged environment in relation to the camera, and thereby the airplane. Real flight images from NASA test flights are used to confirm the accuracy of the algorithm. Where possible, the estimated motion parameters are compared with recorded flight instrument data to confirm the correctness of the algorithm. Results show that the algorithm is accurate to within a degree provided that enough optic flow feature points are tracked.

dc.publisherVirginia Techen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectOptic Flowen_US
dc.subjectComputer Visionen_US
dc.subjectMotion Estimationen_US
dc.subjectFeature Trackingen_US
dc.titleVision-Based Self-Motion Estimation in a Fixed-Wing Aerial Vehicleen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US of Scienceen_US Polytechnic Institute and State Universityen_US and Computer Engineeringen_US
dc.contributor.committeechairAbbott, A. Lynnen_US
dc.contributor.committeememberWyatt, Christopher L.en_US
dc.contributor.committeememberKachroo, Pushkinen_US

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