In this paper, a method to estimate the relative position and attitude of cooperative unmanned aerial vehicles (UAVs) based on monocular vision measurement is proposed. The camera imaging model and the solution of P4P problem are adopted to realize the transformation between body coordinate system and image coordinate system. Deductions help to prove the feasibility of the method and the uniqueness of solution. Furthermore, different image processing methods for extracting the center feature points are applied to reduce error. Finally, the semi-physical simulation shows that the method proposed in this paper could accurately estimate the relative position and attitude between cooperative UAVs.


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    Title :

    A Method to Estimate Relative Position and Attitude of Cooperative UAVs Based on Monocular Vision


    Contributors:
    Zhao, Hongbo (author) / Wu, Sentang (author)


    Publication date :

    2018-08-01


    Size :

    371351 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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