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 |
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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 | |
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 |
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Conference
Conference | 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 |
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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