An FPGA Implementation of a Stereo Altitude Sensor

Matthew David Law


There has been signicant development and research in recent years into the advancement of unmanned aerial vehicles and, in particular, micro-UAVs. Micro-UAVs require
substantial miniaturisation and encapsulation of all major components including air frame, power source, motors, servos, and avionics. This project investigates the design and implementation of an FPGA based, stereo vision camera sensor for altitude detection and control. It outlines the use and effctiveness of a reduced form of the I2A, Image Interpolation Algorithm, for calculating the optical disparity between two halves of a stereo image, the computations required to convert this disparity into an altitude and discusses
the advantages of these methods. This report explores the requirements for utilizing the reduced form of the I2A and presents a practical, FPGA based, implementation for this algorithm.


FPGA; Stereo Vision

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