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 proceedingConference 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 languageEnglish
    Title of host publicationProceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
    EditorsLei Kai
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages250-251
    Number of pages2
    ISBN (Electronic)9781538648704
    DOIs
    Publication statusPublished - 2019 Jan 8
    Event1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 - Shenzhen,Guangdong, China
    Duration: 2018 Aug 152018 Aug 17

    Publication series

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

    Conference

    Conference1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
    Country/TerritoryChina
    CityShenzhen,Guangdong
    Period18/8/1518/8/17

    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

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