TY - GEN
T1 - A pose estimation method of a moving target based on off-board monocular vision
AU - Jia-Ning, Fu
AU - Qiang, Fu
AU - Arif, Usman
AU - Quan, Quan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Pose estimation plays a vital role in landing guidance of quadcopter unmanned aerial vehicles. In this paper, a continuous-time optimization method is proposed to estimate the pose of a moving object only using an off-board camera. The optimization time that can vary depending upon the desired accuracy and computational speed, and it is finally transferred into solving an ordinary differential equation. Based on the proposed method, a pose estimation system with a camera and a pan-tilt unit is established. The system accuracy and algorithm correctness are tested in an experiment with a moving board as the target. Experimental results indicate that the proposed method can track a moving target and estimate its position and attitude in real time. Therefore, it will be promising to use this method in landing guidance of quadcopter unmanned aerial vehicles.
AB - Pose estimation plays a vital role in landing guidance of quadcopter unmanned aerial vehicles. In this paper, a continuous-time optimization method is proposed to estimate the pose of a moving object only using an off-board camera. The optimization time that can vary depending upon the desired accuracy and computational speed, and it is finally transferred into solving an ordinary differential equation. Based on the proposed method, a pose estimation system with a camera and a pan-tilt unit is established. The system accuracy and algorithm correctness are tested in an experiment with a moving board as the target. Experimental results indicate that the proposed method can track a moving target and estimate its position and attitude in real time. Therefore, it will be promising to use this method in landing guidance of quadcopter unmanned aerial vehicles.
UR - https://www.scopus.com/pages/publications/85015202471
U2 - 10.1109/CGNCC.2016.7829112
DO - 10.1109/CGNCC.2016.7829112
M3 - 会议稿件
AN - SCOPUS:85015202471
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 2082
EP - 2087
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -