2014
DOI: 10.1007/s11554-014-0449-3
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A real-time multi-camera vision system for UAV collision warning and navigation

Abstract: A real-time vision system with multiple cameras was developed for UAV collision warning and visual navigation for fixed-wing small-or medium-sized aircrafts. The embedded vision system simultaneously acquires images using five cameras, stores, and evaluates the visual data with an FPGA-based multi-core processor system. The system was designed to fulfill the strict size, power, and weight requirements arising from UAV on-board restrictions. The hardware parameters of the system and the performance of the algor… Show more

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Cited by 19 publications
(10 citation statements)
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“…Substituting this into (14) finally l can be expressed with X, Z, r, β 1 , β 2 . However, substituting this expression into (13) gives again overly complicated expressions.…”
Section: Real Flight Test Resultsmentioning
confidence: 99%
See 2 more Smart Citations
“…Substituting this into (14) finally l can be expressed with X, Z, r, β 1 , β 2 . However, substituting this expression into (13) gives again overly complicated expressions.…”
Section: Real Flight Test Resultsmentioning
confidence: 99%
“…This means that the error of the approximation of l is negligible in the practical range of parameters. Substituting (14) and (15) into (13), considering R = 2r and reordering terms in x gives the final approximated formulae for S and x in (8).…”
Section: Real Flight Test Resultsmentioning
confidence: 99%
See 1 more Smart Citation
“…For research flexibility, we use a high-end FPGA Evaluation Board, Xilinx Zynq UltraScale+ Multi-Processor System-on-Chip (MPSoC) ZCU102. It contains various common industry-standard We have two embedded GPU (Nvidia TK1, TX1) and two FPGA-based (Spartan 6 LX150T [22], Zynq UltraScale+ XCZU9EG) on-board vision system hardware. The development of new algorithms is much easier on a GPU platform.…”
Section: Fpga-based Vision System Hardwarementioning
confidence: 99%
“…Figure 10 shows the complete architecture of the SAA vision system. This architecture is based on [22] and not completely ready. In this paper, we introduce the horizon detection module and its role in the complete SAA system.…”
Section: Image Processing System On Fpgamentioning
confidence: 99%