Calibrating an air-ground control system from motion correspondences

Author

Rao, Rahul ; Taylor, Camillo J. ; Kumar, Vijay

Author_Institution

Gen. Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA

Volume

2

fYear

2004

fDate

27 June-2 July 2004

Abstract

In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.

Keywords

calibration; image motion analysis; motion control; remotely operated vehicles; servomechanisms; velocity; aerial image plane; aerial imagery; air-ground control system calibration; ground plane velocity; image projection velocity; motion correspondences; overhead camera; unmanned vehicles; vehicle motion control; visual servoing; Cameras; Control systems; Image analysis; Land vehicles; Motion control; Motion measurement; Road vehicles; Robot kinematics; Robot vision systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on

ISSN

1063-6919

Print_ISBN

0-7695-2158-4

Type

conf

DOI

10.1109/CVPR.2004.1315167

Filename

1315167