Joint Optimization of the 3D Model and 6D Pose for Monocular Pose Estimation

Joint Optimization of the 3D Model and 6D Pose for Monocular Pose Estimation

The autonomous landing of unmanned aerial vehicles (UAVs) relies on a precise relative 6D pose between platforms. Existing model-based monocular pose estimation methods need an accurate 3D model of the target. They cannot handle the absence of an accurate 3D model. This paper adopts the multi-view g...

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Bibliographic Details
Main Authors: Liangchao Guo, Lin Chen, Qiufu Wang, Zhuo Zhang, Xiaoliang Sun
Format: Article
Language:English
Published: MDPI AG 2024-10-01
Series:Drones
Subjects:
UAV autonomous landing
monocular pose estimation
multi-view geometry constraints
joint optimization
sliding window
keyframe
Online Access:https://www.mdpi.com/2504-446X/8/11/626
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