One of the primary reasons for the current interest in small unmanned aircraft is that they offer an inexpensive platform to carry electro-optical (EO) and infrared (IR) cameras. Almost all small and miniature air vehicles that are currently deployed carry either an EO or IR camera. While the camera’s primary use is to relay information to a user, it makes sense to attempt to also use the camera for the purpose of navigation, guidance, and control. Further motivation comes from the fact that birds and flying insects use vision as their primary guidance sensor .
This chapter briefly introduces some of the issues that arise in vision-based guidance and control of MAVs. In section 13.1 we revisit coordinate frame ...