Vision-based target localization from a fixed-wing miniature air vehicle

作者：Joshua Redding, Timothy W. McLain, Randal W. Beard, Clark N. Taylor · 年份：2006 · DOI：10.1109/acc.2006.1657153 · 被引用次数：86 · 研究领域：Robotics and Sensor-Based Localization、Advanced Image and Video Retrieval Techniques、3D Surveying and Cultural Heritage

This paper presents a method for localizing a ground-based object when imaged from a small fixed-wing unmanned aerial vehicle (UAV). Using the pixel location of the target in an image, with measurements of UAV position and attitude, and camera pose angles, the target is localized in world coordinates. This paper presents a study of possible error sources and localization sensitivities to each source. The localization method has been implemented and experimental results are presented demonstrating the localization of a target to within 11 m of its known location