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Completed TRL 3 (started at 2, targeting 3)
Technical Approach / Expected Accomplishment:• Use imagery from cameras to provide on-board range maps of terrain• Non-static stereo camera system (wing-tips of aircraft, 2 UAVs as test bed)requires extraction of stereo geometry before applying stereo algorithm• Differential GPS module coupled with each camera to provide distance between cameras and precision time synchronization• Prove of concept on JPL tandem UAV system• Evaluate quality of 3D reconstruction for terrain relative navigation (TRN)and collision avoidance at low altitudes on AFRC fixed-wing aircraft (8ftDROID UAV, AFRC F18 test aircraft - leveraging regular training flights)
Primary Technical Hurdles:• Accurate time synchronization of distributed stereo system• Real-time camera to camera pose estimation and on-board map construction• Vibration and motion blur analysis for low altitude flight with wing-tip systems
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