NDLI: Vision-based state estimation of a ground target for an unmanned helicopter

Content Provider	IEEE Xplore Digital Library
Author	Xin Zhekui Fang Yongchun Zhang Yudong Shen Hui Zhang Ge
Copyright Year	2010
Description	Author affiliation: Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300071, China (Xin Zhekui; Fang Yongchun; Zhang Yudong; Shen Hui; Zhang Ge)
Abstract	For a ground target tracking system using an unmanned helicopter, an estimator is proposed in this paper to estimate the states of the target in the world coordinate. With the goal to reduce the estimation errors caused by the noises from on-board sensors, the static features in two successive images are first utilized to calculate the image variation induced by the camera movement, which is then fused with the on-board sensors to estimate the states of the dynamic target. Specifically, the KLT feature tracking algorithm is adopted to track the target and the static features respectively between successive images, then the image information, together with the velocities of the helicopter and the camera, is employed to calculate the target's velocity in the image plane due to the motion of the camera. Based on this information, the velocity of the target is finally obtained by the utilization of the mapping between the world coordinate and the image plane. Simulation and experiment results are provided to validate the performance of the presented state estimation method.
Starting Page	3747
Ending Page	3752
File Size	475067
Page Count	6
File Format	PDF
ISBN	9781424462636
e-ISBN	9787894631046
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-29
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Association of Aut
Subject Keyword	Image sensors Target tracking Helicopters Visual Tracking Cameras States Estimation Unmanned Helicopter State estimation
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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