Camera pose estimation using spherical projection method in landing process of unmanned aerial vehicle

被引：0
作者：
Hou, Qiang [1 ,2 ]
Chen, Maoyin [1 ,2 ]
Zhou, Donghua [1 ,2 ]
机构：
[1] Department of Automation, Tsinghua University
[2] National Laboratory for Information Science and Technology, Tsinghua University
来源：
Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) | 2012年 / 42卷 / SUPPL. 1期
关键词：
Pose estimation; Spherical transformation; Vision-based autonomous landing;
D O I：
10.3969/j.issn.1001-0505.2012.S1.021
中图分类号：
学科分类号：
摘要：
For the problem of landing of a class of aerial vehicle, a new method to estimate camera pose using runway feature is proposed. First, airport aerial images at different attitudes and altitudes are obtained and the detected edges of images are projected onto the spherical surface. Then, spherical geometry is used to calculate the intersection of the edges of the airport runway in sphere, which is consistent with the pose of the aircraft. The intersection position of the edges of runways in sphere is used to estimate the pose of the aircraft. Three-dimensional simulation environments fully verify the effectiveness of the proposed method. The method can be used to obtain the pose of aerial vehicle in the landing process.
引用
收藏
页码：98 / 102
页数：4
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