Joint Localization of Pursuit Quadcopters and Target Using Monocular Cues

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00219267" target="_blank" >RIV/68407700:21230/14:00219267 - isvavai.cz</a>
Result on the web
<a href="http://link.springer.com/article/10.1007/s10846-014-0081-2" target="_blank" >http://link.springer.com/article/10.1007/s10846-014-0081-2</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s10846-014-0081-2" target="_blank" >10.1007/s10846-014-0081-2</a>

Result language
angličtina
Original language name
Joint Localization of Pursuit Quadcopters and Target Using Monocular Cues
Original language description
Pursuit robots (autonomous robots tasked with tracking and pursuing a moving target) require accurate tracking of the target?s position over time. One possibly effective pursuit platform is a quadcopter equipped with basic sensors and a monocular camera.However, the combined noise in the quadcopter?s sensors causes large disturbances in the target?s 3D position estimate. To solve this problem, in this paper, we propose a novel method for joint localization of a quadcopter pursuer with a monocular camera and an arbitrary target. Our method localizes both the pursuer and target with respect to a common reference frame. The joint localization method fuses the quadcopter?s kinematics and the target?s dynamics in a joint state space model. We show that predicting and correcting pursuer and target trajectories simultaneously produces better results than standard approaches to estimating relative target trajectories in a 3D coordinate system. Our method also comprises a computationally effic
Czech name
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Czech description
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Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
JC - Computer hardware and software
OECD FORD branch
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Project
<a href="/en/project/LH11053" target="_blank" >LH11053: Control and Localization for Swarms of Low-cost Autonomous Robots</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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