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The Helicopter Tracking Problem
Aerobatic helicopter issues GPS: dependent on antenna direction IMU: integration noise
Visual Tracking Emulate pilot vision Estimate absolute pose
Recover Pose via Planar Homography
Generate a bank of planer marker with known posesRi , Ti and Ni
Record target in motion + generate SIFT features
Feature bank
Obtain SIFT correspondences + remove outliers (RANSAC)
Solve planar Homography:
H=(R+(1/d)*TNT)
Disambiguate R,T,N solutions with knowledge of Ti and Ni
Min ||Nest-RestTNf||
Use marker with most match points
• Rrel, Ri , Trel and Ti calculate pose and position relative to inertial frame• Get Euler or fixed axis angles
Tag target with known planar markers