Vision-based relative altitude estimation of small unmanned aerial vehicles in target localization

Rick Zhang, H. Liu
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引用次数: 20

Abstract

This paper presents a UAV vision-based relative altitude estimation method using a given size (length) of the ground vehicle. In conjunction with a well known target localization technique, the proposed method relaxes the flat ground assumption and provides an independent approach of altitude correction. It offers possible improvement or expansion in small UAV applications in target localization, tracking, and terrain exploration missions, such as ground terrain mapping. In addition, the proposed kinematic method is reliable and computationally efficient. Its feasibility and effectiveness is further demonstrated by extensive experiments, including both stationary and moving target estimations.
小型无人机目标定位中基于视觉的相对高度估计
提出了一种给定地面飞行器尺寸(长度)的基于无人机视觉的相对高度估计方法。结合一种已知的目标定位技术,该方法放宽了平坦地面假设,并提供了一种独立的高度校正方法。它在目标定位、跟踪和地形探测任务(如地面地形测绘)中的小型无人机应用中提供可能的改进或扩展。此外,所提出的运动学方法可靠,计算效率高。通过大量的实验,包括静止目标估计和运动目标估计,进一步证明了该方法的可行性和有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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