ESA GNC Conference Papers Repository

Intelligent Camera as Subsystem for Vision-Aided Onboard Navigation of MAVs
Trittler, M. ; Fichter, W. ; Schoettl, A
Presented at:
Karlovy Vary 2011
Full paper:

This paper discusses the use of an intelligent camera as vision subsystem focusing on processing images for providing landmark feature information for navigation purposes. After the introduction of the micro aerial vehicle system and the derived requirements for the vision subsystem, the actual intelligent camera hardware and software is introduced. The implementation and performance of corner detection and feature tracking algorithms is analyzed with regard to the camera processing unit which provides an ARM and a DSP controller. The integration of the camera subsystem in the MAV system and experiences from flight testing is completing the big picture.