DocumentCode :
3532574
Title :
Instataneous geo-location of multiple targets from monocular airborne video
Author :
Han, K. ; DeSouza, G.N.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Missouri, Columbia, MO, USA
Volume :
4
fYear :
2009
fDate :
12-17 July 2009
Abstract :
We propose a robust and accurate method for multi-target geo-localization from airborne video. The difference between our approach and other approaches in the literature is fourfold: 1) it does not require gimbal control of the camera or any particular path planning control for the UAV; 2) it can instantaneously geo-locate multiple targets even if they were not previously observed by the camera; 3) it does not require a geo-referenced terrain database nor an altimeter for estimating the UAV´s and the target´s altitudes; and 4) it requires only one camera, but it employs a multi-stereo technique using the image sequence for increased accuracy in target geo-location. The only requirements for our approach are: that the intrinsic parameters of the camera be known; that the on board camera be equipped with global positioning system (GPS) and iner-tial measurement unit (IMU); and that enough feature points can be extracted from the surroundings of the target. Since the first two constraints are easily satisfied, the only real requirement is regarding the feature points. However, as we explain later, this last constraint can also be alleviated if the ground is approximately planar. The result is a method that can reach a few meters of accuracy for an UAV flying at a few hundred meters above the ground. Such performance is demonstrated by computer simulation, in-scale data using a model city, and real airborne video with ground truth.
Keywords :
Global Positioning System; geophysical techniques; path planning; remote sensing; remotely operated vehicles; video cameras; video signal processing; Global Positioning System; UAV; altimeter; geo-referenced terrain database; image sequence; inertial measurement unit; instataneous multitarget geolocation; monocular airborne video; multistereo technique; path planning control; Cameras; Cities and towns; Computer simulation; Global Positioning System; Image databases; Image sequences; Measurement units; Path planning; Robustness; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Geoscience and Remote Sensing Symposium,2009 IEEE International,IGARSS 2009
Conference_Location :
Cape Town
Print_ISBN :
978-1-4244-3394-0
Electronic_ISBN :
978-1-4244-3395-7
Type :
conf
DOI :
10.1109/IGARSS.2009.5417549
Filename :
5417549
Link To Document :
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