Location estimation method based on circular target by UAV’s monocular
- Resource Type
- Conference
- Authors
- Wang, Hao; Pei, Xuan; Li, Jiaxin; Zhang, Shijie; Wang, Tianmiao; Hou, Taogang
- Source
- 2021 5th Asian Conference on Artificial Intelligence Technology (ACAIT) Artificial Intelligence Technology (ACAIT), 2021 5th Asian Conference on. :637-642 Oct, 2021
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Target tracking
Image edge detection
Fitting
Estimation
Cameras
Feature extraction
Extraterrestrial measurements
UAV
monocular
location estimation
circle feature
- Language
In order to solve the difficulties in location estimation of practical applications such as real-time tracking and formation coordination in large space, large-scale scene, we proposes a method for location estimation based on monocular vision and circular markers whose diameter is known on the UAV platform.We analyzed the circular center offset in the perspective projection, and gave the correct formula for the center offset. Then the effectiveness of circle center estimation algorithms and location estimation is verified by fixed camera with different tilt angle $\theta$ and monocular on UAV. We used the monocular vision based on the UAV to achieve the location estimation with an accuracy of 3.0cm.