Estimation of position and orientation from image sequence of a circle

Author

Sato, Machiko ; Aggarwal, J.K.

Author_Institution

Fac. of Eng., Tokyo Inst. of Polytech., Kanagawa, Japan

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2252

Abstract

A method to estimate the relative position and orientation of a camera to a circle having unknown radius is presented. A possible application of this problem is the automatic landing of a helicopter because the method can replace human pilots who estimate their position and orientation relative to the landing site by observing the circle marked in heliports. The method is formulated on the framework of the recursive estimation using an image sequence of a circle. The results of the experiment both on the synthetic data and the real image show the proposed method works adequately

Keywords

aircraft control; aircraft landing guidance; attitude control; computer vision; helicopters; image sequences; motion estimation; recursive estimation; state estimation; automatic landing; camera; circle; helicopter; image sequence; orientation; position estimation; recursive estimation; state estimation; Application software; Cameras; Computer vision; Geometry; Global Positioning System; Helicopters; Humans; Image sequences; Land vehicles; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619296

Filename

619296