Vision-Based Tracking of Uncooperative Targets
This paper presents a summary of a subset of the extensive vision-based tracking methods developed at Georgia Tech. The problem of a follower aircraft tracking an uncooperative leader, using vision information only, is addressed. In all the results presented, a single monocular camera is used as the...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2011-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2011/243268 |
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| Summary: | This paper presents a summary of a subset of the extensive vision-based tracking methods developed
at Georgia Tech. The problem of a follower aircraft tracking an uncooperative leader, using vision
information only, is addressed. In all the results presented, a single monocular camera is used as the
sole source of information used to maintain formation with the leader. A Kalman filter formulation
is provided for the case where image processing may be used to estimate leader motion in the image
plane. An additional piece of information, the subtended angle, also available from computer vision
algorithm is used to improve range estimation accuracy. In situations where subtended angle information
is not available, an optimal trajectory is generated that improves range estimation accuracy. Finally,
assumptions on the target acceleration are relaxed by augmenting a Kalman Filter with an adaptive
element. |
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| ISSN: | 1687-5966 1687-5974 |