Space projection of air-ground integrated system in Intelligent Transportation

Unmanned Aerial Vehicles (UAVs) or the so-called “drones” are frequently used in various areas. However, their usage in Intelligent Transportation System (ITS) is limited. This paper demonstrates an “air-ground integrated system” for ITS, which consists of a drone in the sky side and a Closed-Circuit Television (CCTV) at roadside. Specifically, the space mapping between drone vision and CCTV vision is analyzed. At first, the drone GPS position is adjusted according to an open source map database. Then the camera parameters of CCTV are estimated according to drone visions. Finally, drone visions are projected into East-North-Up (ENU) space, while the CCTV visions are mapped into ENU space via Inverse Perspective Mapping (IPM). As a result, the mapping of air-ground integrated system is achieved. The experimental results verify the space mapping in an air-ground integrated system.