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Vision-based Navigation for VTOL Unmanned Aerial Vehicle Landing
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 Title & Authors
Vision-based Navigation for VTOL Unmanned Aerial Vehicle Landing
Lee, Sang-Hoon; Song, Jin-Mo; Bae, Jong-Sue;
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 Abstract
Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.
 Keywords
VTOL;Navigation;Computer Vision;Homography;Epipolar Constraint;
 Language
Korean
 Cited by
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