Validation of vision-based obstacle detection algorithms for low-altitude helicopter flight

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Abstract
The automation of rotorcraft low-altitude flight presents challenging problems in control imaging sensors and image understanding. A critical element in this problem is the ability to detect and locate obstacles in a helicopter''s intended flight path and using on-board sensors modify the nominal vehicle trajectory to avoid contact with the detected obstacles. This paper describes the validation facility being used at Ames to test vision based obstacle detection and range estimation algorithms suitable for low level helicopter flight and presents some early validation results.

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