IRIS-00-391

On the Properties of a Contrast Descriptor for Aerial Imagery

Pedro J. Garcia-Pardo

This report is intended to demonstrate some interesting properties of a contrast descriptor for aerial imagery: normalized average of the normalized edge-image histogram. This dimensionless descriptor is derived by normalizing the edge image and calculating the average and the standard deviation of its histogram, and has succesfully been used for autonomous safe landing purposes in the USC-AVATAR helicopter.