TY - GEN
T1 - A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision
AU - Zhao, Hongbo
AU - Wu, Sentang
N1 - Publisher Copyright:
© 2018 IEEE.
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 -