DocumentCode :
1716144
Title :
Position and orientation estimation for unmanned helicopter landing based on ellipse feature
Author :
Li Fei ; Wu Xianliang ; Shi Zongying ; Zhong Yisheng
Author_Institution :
Dept. of Autom., Tsinghua Univ., Beijing, China
fYear :
2013
Firstpage :
3805
Lastpage :
3810
Abstract :
This paper proposed an algorithm of ellipse detection based on Mean Shift, followed by position and orientation estimation. Setting a specific color ellipse mark as the landing target, the algorithm captures the target section by Mean Shift. The ADM edge point extraction and direct least square method are limited in the section to establish the ellipse equation. The problem of estimating UAV´s position and orientation based on ellipse feature is turned into solving an equation of twelfth order. The method removes the background interference and reduces the complexity of image processing. Experimental results on Quanser platform verify the accuracy and real-time performance of the method.
Keywords :
aerospace computing; autonomous aerial vehicles; control engineering computing; edge detection; entry, descent and landing (spacecraft); least squares approximations; robot vision; ADM edge point extraction; color ellipse mark; direct least square method; ellipse detection; ellipse equation; ellipse feature; mean shift; orientation estimation; position estimation; twelfth order equation; unmanned helicopter landing; Educational institutions; Electronic mail; Equations; Estimation; Feature extraction; Helicopters; Image edge detection; ADM Edge Extraction; Least Square; Mean Shift; Position and Orientation Estimation; UAV Landing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
Type :
conf
Filename :
6640083
Link To Document :
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