DocumentCode :
3728239
Title :
HArCo: Hierarchical Fiducial Markers for Pose Estimation in Helicopter Landing Tasks
Author :
Hao Wang;Xiongfeng Wang;Geng Lu;Yisheng Zhong
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
fYear :
2015
Firstpage :
1968
Lastpage :
1973
Abstract :
A reliable pose estimation is crucial in the landing tasks of helicopters. This paper mainly focuses on presenting a smooth and reliable pose estimation method during helicopter landing using Augmented Reality (AR) markers. Based on the proposed hierarchical fiducial marker system called Hierarchical Augmented Reality Code (HArCo), pose estimation can be performed within a much longer range. The design of the system, generation of the marker dictionary and the application in helicopter landing are thoroughly described in this paper. The performance of the pose estimation algorithm based on HArCo is tested in a landing task. As pose information is accessible throughout the landing procedure, a safe auto-landing based on HArCo can also be conducted.
Keywords :
"Helicopters","Cameras","Target tracking","Visualization","Reliability"
Publisher :
ieee
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2015 IEEE International Conference on
Type :
conf
DOI :
10.1109/SMC.2015.343
Filename :
7379475
Link To Document :
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