Title :
Robust visual lock-on and simultaneous localization for an unmanned aerial vehicle
Author :
Min, Jihong ; Jeong, Yekeun ; Kweon, In So
Author_Institution :
Electr. Eng. Dept., Korea Adv. Inst. of Technol. (KAIST), Daejeon, South Korea
Abstract :
We present a method for simultaneously locking on to a ground target and estimating the position of an unmanned aerial vehicle (UAV) under countermeasure (CM) conditions, where sensors are prevented from successfully tracking a target. Owing to the limited payload and power of the UAVs, we employ a monocular camera and a global positioning system (GPS) to carry out vision-based simultaneous localization and mapping (SLAM) using both an unscented Kalman filter and a Kalman filter. Since this approach estimates the state of the UAV and the location of the target, we can estimate the position of the target in the image, even in the presence of CMs. Our experiments show that the proposed method successfully locks on to the target and estimates the state of the UAV.
Keywords :
Global Positioning System; Kalman filters; SLAM (robots); aerospace robotics; aircraft; cameras; mobile robots; object detection; position measurement; remotely operated vehicles; robot vision; GPS; SLAM; UAV; countermeasure; global positioning system; monocular camera; position estimation; robust visual lock-on; sensor; target location; unmanned aerial vehicle; unscented Kalman filter; vision-based simultaneous localization and mapping;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5650725