Roll and Pitch Estimation Using Visual Horizon Recognition

In guidance and automated control system, especially for unmanned vehicle, attitude determination is an important element. Generally this parameter is provided by sensors like INS (Inertial Navigation Systems), but it can be also estimated with a single camera that “looks” the horizon. This work pre...

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Bibliographic Details
Published inAugmented and Virtual Reality pp. 363 - 380
Main Authors Del Pizzo, Silvio, Troisi, Salvatore, Angrisano, Antonio, Gaglione, Salvatore
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing 2014
SeriesLecture Notes in Computer Science
Subjects
Attitude estimation
Computer vision
INS
Low-cost
Orientation
Photogrammetry
Online AccessGet full text
ISBN3319139681
9783319139685
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-13969-2_27

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Summary:In guidance and automated control system, especially for unmanned vehicle, attitude determination is an important element. Generally this parameter is provided by sensors like INS (Inertial Navigation Systems), but it can be also estimated with a single camera that “looks” the horizon. This work presents the project of an embedded solution that uses visual information, captured by a consumer camera, to estimate the vehicle attitude. The system is designed to be mounted on board of a ship or a sail boat, in order to record the roll and pitch angles for safety purpose or to be used for real time application (e.g. during a regatta to overlap the values of the boat attitude with video output coming from a camera mounted on the masthead framing the race field).
ISBN:3319139681
9783319139685
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-13969-2_27