Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones

Nicklas Haagh Christensen, Frederik Falk, Oliver Gyldenberg Hjermitslev, Rikke Gade

2019

Abstract

We design a feature-based model to estimate and predict the free height of a fixed-wing drone flying at altitudes up to 100 meters above terrain using the stereo vision principles and a one-dimensional Kalman filter. We design this using a single RGB camera to assess the viability of sequential images for height estimation, and to assess which issues and pitfalls are likely to affect such a system. This model is tested on both simulation data flying above flat and varying terrain, as well as data from a real test flight. Simulation RMSE ranges from 10.7% to 21.0% of maximum flying height. Real estimates vary significantly more, resulting in an RMSE of 27.55% of median flying height of one test flight. Best MAE was roughly 17%, indicating the error to expect from the system. We conclude that feature-based detection appears to be too heavily influenced by noise introduced by the drone and other uncontrollable parameters to be used in reliable height estimation.

Paper Citation

in Harvard Style

Christensen N., Falk F., Hjermitslev O. and Gade R. (2019). Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones. In Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP; ISBN 978-989-758-354-4, SciTePress, pages 751-759. DOI: 10.5220/0007256107510759

in Bibtex Style

@conference{visapp19,
author={Nicklas Haagh Christensen and Frederik Falk and Oliver Gyldenberg Hjermitslev and Rikke Gade},
title={Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones},
booktitle={Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP},
year={2019},
pages={751-759},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007256107510759},
isbn={978-989-758-354-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2019) - Volume 5: VISAPP
TI - Assessing Sequential Monoscopic Images for Height Estimation of Fixed-Wing Drones
SN - 978-989-758-354-4
AU - Christensen N.
AU - Falk F.
AU - Hjermitslev O.
AU - Gade R.
PY - 2019
SP - 751
EP - 759
DO - 10.5220/0007256107510759
PB - SciTePress