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http://dx.doi.org/10.5302/J.ICROS.2008.14.12.1205

Vision Based Estimation of 3-D Position of Target for Target Following Guidance/Control of UAV  

Kim, Jong-Hun (부산대학교 항공우주공학과)
Lee, Dae-Woo (부산대학교 항공우주공학과)
Cho, Kyeum-Rae (부산대학교 항공우주공학과)
Jo, Seon-Yeong (부산대학교 항공우주공학과)
Kim, Jung-Ho (부산대학교 항공우주공학과)
Han, Dong-In (부산대학교 항공우주공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.12, 2008 , pp. 1205-1211 More about this Journal
Abstract
This paper describes methods to estimate 3-D position of target with respect to reference frame through monocular image from unmanned aerial vehicle (UAV). 3-D position of target is used as information for surveillance, recognition and attack. In this paper. 3-D position of target is estimated to make guidance and control law, which can follow target, user interested. It is necessary that position of target is measured in image to solve 3-D position of target. In this paper, kalman filter is used to track and output position of target in image. Estimation of target's 3-D position is possible using result of image tracking and information of UAV and camera. To estimate this, two algorithms are used. One is methode from arithmetic derivation of dynamics between UAV, carmer, and target. The other is LPV (Linear Parametric Varying). These methods have been run on simulation, and compared in this paper.
Keywords
estimation of 3-D position; monocular vision; kalman filter; LPV (Linear Parametric Varying);
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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