NDLI: Unit dual quaternion-based pose optimisation for visual runway observations

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Unit dual quaternion-based pose optimisation for visual runway observations

Content Provider	IET Digital Library
Author	Brambley, Galen Kim, Jonghyuk
Abstract	This study addresses the pose estimation problem of an aircraft runway using visual observations in a landing approach scenario. The authors utilised the fact that the geodetic coordinates of most runways are known precisely with highly visible markers. Thus, the runway observations can increase the level of situational awareness during the landing approach, providing additional redundancy of navigation and less reliance on global positioning system. A novel pose optimisation algorithm is proposed utilising unit dual quaternion for the runway corner observations obtained from a monocular camera. The estimated runway pose is further fused with an inertial navigation system in an extended Kalman filter. An open-source flight simulator is used to collect and process the visual and flight dataset during the landing approach, demonstrating reliable runway pose estimates and the improved inertial navigation solution.
Starting Page	181
Ending Page	189
Page Count	9
Volume Number	2
e-ISSN	26316315
Issue Number	Issue 4, Dec (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-csr/2/4
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-csr.2020.0029
Journal	IET Cyber-Systems and Robotics
Publisher	The Institution of Engineering and Technology Zhejiang University Press
Publisher Date	2020-10-01
Access Restriction	Open
Rights License	Creative Commons Attribution-Non Commercial-No Derivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Subject Keyword	Additional Redundancy Aerospace Control Aerospace Simulation Aircraft Aircraft Runway Computer Vision And Image Processing Technique Estimated Runway Estimation Problem Filtering Method in Signal Processing Geodetic Coordinate Global Positioning System Highly Visible Markers Image Recognition Improved Inertial Navigation Solution Inertial Navigation System Kalman Filter Landing Approach Scenario Less Reliance Nonlinear Filter Open-source Flight Simulator Optical, Image And Video Signal Processing Optimisation Algorithm Pose Estimation Reliable Runway Runway Corner Observations Runways Situational Awareness Statistics Unit Dual Quaternion-based Visual Flight Dataset Visual Observations Visual Runway Observations
Content Type	Text
Resource Type	Article

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