A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision

Hongbo Zhao; Sentang Wu

doi:10.1109/GNCC42960.2018.9018876

A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision

Hongbo Zhao
, Sentang Wu

School of Electronic and Information Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper, a method to estimate the relative position and attitude of cooperative unmanned aerial vehicles (UAVs) based on monocular vision measurement is proposed. The camera imaging model and the solution of P4P problem are adopted to realize the transformation between body coordinate system and image coordinate system. Deductions help to prove the feasibility of the method and the uniqueness of solution. Furthermore, different image processing methods for extracting the center feature points are applied to reduce error. Finally, the semi-physical simulation shows that the method proposed in this paper could accurately estimate the relative position and attitude between cooperative UAVs.

Original language	English
Title of host publication	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538611715
DOIs	https://doi.org/10.1109/GNCC42960.2018.9018876
State	Published - Aug 2018
Event	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 - Xiamen, China Duration: 10 Aug 2018 → 12 Aug 2018

Publication series

Name	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Conference

Conference	2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Country/Territory	China
City	Xiamen
Period	10/08/18 → 12/08/18

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10.1109/GNCC42960.2018.9018876

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Zhao, H., & Wu, S. (2018). A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision. In 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 Article 9018876 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GNCC42960.2018.9018876

@inproceedings{4f97c98906394ca394a4d6d8f5b1cb08,

title = "A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision",

abstract = "In this paper, a method to estimate the relative position and attitude of cooperative unmanned aerial vehicles (UAVs) based on monocular vision measurement is proposed. The camera imaging model and the solution of P4P problem are adopted to realize the transformation between body coordinate system and image coordinate system. Deductions help to prove the feasibility of the method and the uniqueness of solution. Furthermore, different image processing methods for extracting the center feature points are applied to reduce error. Finally, the semi-physical simulation shows that the method proposed in this paper could accurately estimate the relative position and attitude between cooperative UAVs.",

author = "Hongbo Zhao and Sentang Wu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018 ; Conference date: 10-08-2018 Through 12-08-2018",

year = "2018",

month = aug,

doi = "10.1109/GNCC42960.2018.9018876",

language = "英语",

series = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018",

address = "美国",

}

Zhao, H & Wu, S 2018, A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision. in 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018., 9018876, 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Institute of Electrical and Electronics Engineers Inc., 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018, Xiamen, China, 10/08/18. https://doi.org/10.1109/GNCC42960.2018.9018876

A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision. / Zhao, Hongbo; Wu, Sentang.
2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. 9018876 (2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision

AU - Zhao, Hongbo

AU - Wu, Sentang

PY - 2018/8

Y1 - 2018/8

N2 - In this paper, a method to estimate the relative position and attitude of cooperative unmanned aerial vehicles (UAVs) based on monocular vision measurement is proposed. The camera imaging model and the solution of P4P problem are adopted to realize the transformation between body coordinate system and image coordinate system. Deductions help to prove the feasibility of the method and the uniqueness of solution. Furthermore, different image processing methods for extracting the center feature points are applied to reduce error. Finally, the semi-physical simulation shows that the method proposed in this paper could accurately estimate the relative position and attitude between cooperative UAVs.

AB - In this paper, a method to estimate the relative position and attitude of cooperative unmanned aerial vehicles (UAVs) based on monocular vision measurement is proposed. The camera imaging model and the solution of P4P problem are adopted to realize the transformation between body coordinate system and image coordinate system. Deductions help to prove the feasibility of the method and the uniqueness of solution. Furthermore, different image processing methods for extracting the center feature points are applied to reduce error. Finally, the semi-physical simulation shows that the method proposed in this paper could accurately estimate the relative position and attitude between cooperative UAVs.

UR - https://www.scopus.com/pages/publications/85082438390

U2 - 10.1109/GNCC42960.2018.9018876

DO - 10.1109/GNCC42960.2018.9018876

M3 - 会议稿件

AN - SCOPUS:85082438390

T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018

Y2 - 10 August 2018 through 12 August 2018

ER -

A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision

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