DOI QR코드

DOI QR Code

Pose Estimation of Leader Aircraft for Vision-based Formation Flight

영상기반 편대비행을 위한 선도기 자세예측 알고리즘

  • Received : 2013.03.27
  • Accepted : 2013.06.24
  • Published : 2013.07.01

Abstract

This paper describes a vision-based only attitude estimation technique for the leader in the formation flight. The feature points in image obtained from the X-PLANE simulator are extracted by the SURF(Speed Up Robust Features) algorithm. We use POSIT(Pose from Orthography and Scaling with Iteration) algorithm to estimate attitude. Finally we verify that attitude estimation using vision only can yield small estimated error of $1.1{\sim}1.76^{\circ}$.

본 논문은 편대비헹에서 영상만을 이용하여 선도기의 자세를 예측 하는 알고리즘 개발에 대해 논하고 있다. X-PLANE 시뮬레이터를 이용하여 획득한 영상에 SURF(Speed Up Robust Features)알고리즘을 이용하여 특징점을 추출 하였다. 그리고 자세예측 방법은 POSIT(Pose from Orthography and Scaling with Iteration) 알고리즘을 사용하였다. 결론적으로 우리는 영상만을 이용한 자세추정법이 $1.1{\sim}1.76^{\circ}$의 작은 추정오차 결과를 나타냄을 확인할 수 있었다.

Keywords

References

  1. Seung-Min Oh and Eric N. Johnson., " Relative Motion Estimation for Vision-based Formation Flight using Unscented Kalman Filter," AIAA Guidance, Navigation and Control Conference and Exhibit, 20 - 23. Aug. 2007
  2. Zouhair Mahboubi , Zico Kolter , Tao Wang, Geoffrey Bower., "Camera Based Localization for Autonomous UAV Formation Flight." AIAA Infotech@Aerospace 2011, 29 - 31. Mar. 2011
  3. D. Dementhon, L. Davis "Model-Based Object Pose in 25 Lines of Code." International Journal of Computer Vision, Vol.15, 1995, pp.123-141. https://doi.org/10.1007/BF01450852
  4. Herbert Bay, Andreas Ess, Tinne Tuytelaars, Luc Van Gool, "SURF: Speeded Up Robust Features", Computer Vision and Image Understanding (CVIU), Vol. 110, No. 3, 2008 pp. 346-359. https://doi.org/10.1016/j.cviu.2007.09.014
  5. Yeong-Ju Kim, Jun-Yong Lee, Hyun-Joo Park, Dongjin Lee, and Hyochoong Bang "Real-time Implementation of Vision-based Pose Estimation for UAV Aerial Refueling" KSAS Spring Symposium, 2011, pp. 633-637
  6. Minku Kang, Wonkook Choo and Seungbin Moon, "Face Recognition based on SURF Interest Point Extraction Algorithm." IEEK, Vol. 48, No. 3, 2011, pp.323-330
  7. Deok-Jae Seo, Hyun-Woo Kim, Young-Mo Kim, Doo-Hyun Choi, and Re-Mi Do, "Vehicle detection using SURF." CICS, 2010, pp.107-108
  8. Ji-Wook Kwon, Mun-Soo Park, Dongkyoung Chwa, and Suk-Kyo Hong, "Three-Dimensional Pose Estimaion of Neighbor Mobile Robots in Formation System Based on the Vision System", ICROS, Vol. 15, No. 12, 2009, pp.1223-1231 https://doi.org/10.5302/J.ICROS.2009.15.12.1223

Cited by

  1. Monocular Vision-Based Guidance and Control for a Formation Flight vol.16, pp.4, 2015, https://doi.org/10.5139/IJASS.2015.16.4.581