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This study describes a novel, vision-based system for guidance of UAVs. The system uses two cameras, each associated with a specially-shaped reflective surface, to obtain stereo information on the height above ground and the distances to potential obstacles. The camera-mirror system has the advantage that it remaps the world onto a cylindrical co-ordinate system that simplifies and speeds up range computations, and defines a collision-free cylinder through which the aircraft can pass without encountering obstacles. The result is a computationally efficient approach to vision-based aircraft guidance that is particularly suited to terrain and gorge following, obstacle avoidance, and landing. The feasibility of the system is demonstrated in laboratory and field tests.
Moore et al. (Thu,) studied this question.