2. |
- Merino, Luis, et al.
(författare)
-
Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks
- 2007
-
Ingår i: Advances in Unmanned Aerial Vehicles. - Netherlands : Springer. - 9781402061134 - 9781402061141 ; , s. 267-307
-
Bokkapitel (populärvet., debatt m.m.)abstract
- This Chapter presents a vision-based method for unmanned aerial vehicle (UAV) motion estimation that uses as input an image motion field obtained from matches of point-like features. The Chapter enhances visionbased techniques developed for single UAV localization and demonstrates how they can be modified to deal with the problem of multi-UAV relative position estimation. The proposed approach is built upon the assumption that if different UAVs identify, using their cameras, common objects in a scene, the relative pose displacement between the UAVs can be computed from these correspondences under certain assumptions. However, although point-like features are suitable for local UAV motion estimation, finding matches between images collected using different cameras is a difficult task that may be overcome using blob features. Results justify the proposed approach.
|
|