Estimation of relative pose Visual Landing Guidance System for Aircrafts commenced on May 2001 by Daniel Tung (MEngSci) Supervisor Dr David Suter Associate supervisor Dr Alireza Bab-hadiashar Project Aim The goal of this project is to develop reliable visual motion estimation techniques to be utilized in the control of low altitude manoeuvres for autonomous small-scale aircraft. We are committed to focus our attention on recovering relative altitude of an aircraft by using the terrain texture seen from an onboard camera. We aim to develop techniques that would work reliably on almost any terrain under different weather conditions and to provide evaluation techniques capable of verifying optic flow estimates. Recorded visual flight data from a CCD camera Feature Extraction Automated Tracking Estimation of relative pose Computer performs Current Research Area Research Aims for next 12 months o Specification of visual sensor and data post processing requirements based on analysis of aircraft dynamics o Collection of visual data (images) over a range of terrain under different weather conditions o Evaluation of existing optic flow algorithms on above data set. A nose cone CCD camera to capture visual flight data Feature Tracking performed on recorded visual flight data Blue cross - estimated position of marker Red cross - real position of marker Estimator algorithm based on work done by Arnaud Renouf (visiting French student). Project website - http://www-personal.monash.edu.au/~dtung/ This project is funded in part by a grant from the ARC / Aerosonde (SPIRT) Electrical and Computer Systems Engineering Postgraduate Student Research Forum 2001