Title :
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
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;
Conference_Titel :
Computer Vision and Pattern Recognition, 2004. CVPR 2004. Proceedings of the 2004 IEEE Computer Society Conference on
Print_ISBN :
0-7695-2158-4
DOI :
10.1109/CVPR.2004.1315167
