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

무인 항공기의 목표물 추적을 위한 영상 기반 목표물 위치 추정

  • 김종훈 (부산대학교 항공우주공학과) ;
  • 이대우 (부산대학교 항공우주공학과) ;
  • 조겸래 (부산대학교 항공우주공학과) ;
  • 조선영 (부산대학교 항공우주공학과) ;
  • 김정호 (부산대학교 항공우주공학과) ;
  • 한동인 (부산대학교 항공우주공학과)
  • Published : 2008.12.01

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

References

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