Analytic Algorithm of Position and Orientation Estimation for Unmanned Helicopters Landing

摘要：

An analytic position and orientation estimation algorithm based on monocular vision and single image frame is proposed. A landing target graph with one main square is designed to generate the information needed for the parameters estimation. Based on the theory of perspective projection, the pinhole model of camera and the constraints of vertical relationship between the adjacent sides, the analytic functions of the position and orientation parameters are deduced .with the object coordinates of the squares 4 corner points and their corresponding image coordinates as inputs, The lab test based on real image verified the algorithms validity.

关键词： computer vision unmanned helicopter pose estimation analytic solution

作者: WANG Xiaojian LIU Bin PAN Shunliang SHEN Weiqun SONG Zishan

作者单位: School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astro The Second Artillery Equipment Academy, Beijing 100085 School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astro

会议类型: 国际会议

会议名称: 第七届国际测试技术研讨会

会议地点: 北京

会议语种:英文

在线出版日期: 2007-08-05（万方平台首次上网日期，不代表论文的发表时间）