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J. KIMS Technol > Volume 18(3); 2015 > Article
Journal of the Korea Institute of Military Science and Technology 2015;18(3):226-233.
DOI: https://doi.org/10.9766/KIMST.2015.18.3.226   
Vision-based Navigation for VTOL Unmanned Aerial Vehicle Landing
Sang-Hoon Lee, Jin-Mo Song, Jong-Sue Bae
Sensor Systems Department, Defence R&D Center, Hanwha Corporation
수직이착륙 무인항공기 자동 착륙을 위한 영상기반 항법
이상훈, 송진모, 배종수
(주)한화 종합연구소 핵심기술 2팀
Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.
Key Words: VTOL, Navigation, Computer Vision, Homography, Epipolar Constraint


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