Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter

Dhong Hun Lee; Sang Su Lee; Hyun Ho Kang; Choon Ki Ahn

doi:10.1109/HOTICN.2018.8606037

Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter

Dhong Hun Lee, Sang Su Lee, Hyun Ho Kang, Choon Ki Ahn

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

In this paper, we propose an algorithm for obtaining camera coordinates for unmanned aerial vehicles (UAVs) using SolvePnP and Kalman filter (KF). The data and motion of circle can be recognized and tracked through the KF with high accuracy. Then, the recognized circle is used as an image point of the SolvePnP algorithm. The translation and rotation vectors can be extracted from reference of the world coordinate system using the image point. The position of UAVs can be obtained from the extracted information and the results demonstrate that the position can be derived from only camera. The robust performance of the proposed algorithm is demonstrated through experimental results.

Original language	English
Title of host publication	Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
Editors	Lei Kai
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	250-251
Number of pages	2
ISBN (Electronic)	9781538648704
DOIs	https://doi.org/10.1109/HOTICN.2018.8606037
Publication status	Published - 2019 Jan 8
Event	1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 - Shenzhen,Guangdong, China Duration: 2018 Aug 15 → 2018 Aug 17

Publication series

Name	Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018

Conference

Conference	1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
Country/Territory	China
City	Shenzhen,Guangdong
Period	18/8/15 → 18/8/17

Bibliographical note

Funding Information:
This work was supported partially by the NRF through the Ministry of Science, ICT, and Future Planning under Grant NRF-2017R1A1A1A05001325, and partially by “Human Resources program in Energy Technology” of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820).

Funding Information:
This work was supported partially by the NRF through the Ministry of Science, ICT, and Future Planning under Grant NRF- 2017R1A1A1A05001325, and partially by "Human Resources program in Energy Technology" of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) granted financial resource from the Ministry of Trade, Industry & Energy, Republic of Korea (No. 20174030201820).

Publisher Copyright:
© 2018 IEEE.

Keywords

Kalman filter
Position estimation
SolvePnP
UAVs

ASJC Scopus subject areas

Computer Networks and Communications
Information Systems

Access to Document

10.1109/HOTICN.2018.8606037

Cite this

Lee, D. H., Lee, S. S., Kang, H. H., & Ahn, C. K. (2019). Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. In L. Kai (Ed.), Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 (pp. 250-251). Article 8606037 (Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HOTICN.2018.8606037

Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. / Lee, Dhong Hun; Lee, Sang Su; Kang, Hyun Ho et al.
Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018. ed. / Lei Kai. Institute of Electrical and Electronics Engineers Inc., 2019. p. 250-251 8606037 (Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Lee, DH, Lee, SS, Kang, HH & Ahn, CK 2019, Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. in L Kai (ed.), Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018., 8606037, Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018, Institute of Electrical and Electronics Engineers Inc., pp. 250-251, 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018, Shenzhen,Guangdong, China, 18/8/15. https://doi.org/10.1109/HOTICN.2018.8606037

Lee DH, Lee SS, Kang HH, Ahn CK. Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. In Kai L, editor, Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 250-251. 8606037. (Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018). doi: 10.1109/HOTICN.2018.8606037

Lee, Dhong Hun ; Lee, Sang Su ; Kang, Hyun Ho et al. / Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018. editor / Lei Kai. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 250-251 (Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018).

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abstract = "In this paper, we propose an algorithm for obtaining camera coordinates for unmanned aerial vehicles (UAVs) using SolvePnP and Kalman filter (KF). The data and motion of circle can be recognized and tracked through the KF with high accuracy. Then, the recognized circle is used as an image point of the SolvePnP algorithm. The translation and rotation vectors can be extracted from reference of the world coordinate system using the image point. The position of UAVs can be obtained from the extracted information and the results demonstrate that the position can be derived from only camera. The robust performance of the proposed algorithm is demonstrated through experimental results.",

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AB - In this paper, we propose an algorithm for obtaining camera coordinates for unmanned aerial vehicles (UAVs) using SolvePnP and Kalman filter (KF). The data and motion of circle can be recognized and tracked through the KF with high accuracy. Then, the recognized circle is used as an image point of the SolvePnP algorithm. The translation and rotation vectors can be extracted from reference of the world coordinate system using the image point. The position of UAVs can be obtained from the extracted information and the results demonstrate that the position can be derived from only camera. The robust performance of the proposed algorithm is demonstrated through experimental results.

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Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

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