Title :
Accurate pose determination for autonomous vehicle navigation
Author :
Walker, Michael J. ; Sasiadek, Jerzy Z.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
In this paper, the translational accuracy performance of two algorithms that allow the pose of an Unmanned Aerial Vehicle (UAV) to be estimated is reported, based on preliminary data. The two algorithms are the 2D Homography and the 3D Iterative Closest Point (ICP) algorithm. Performance is measured against real image data taken with a digital Nikon D70 camera, with lens set at 3 different focal lengths. It is shown that best accuracy is achieved with the 3D Iterative Closest Point algorithm and that focal length itself has little or no bearing on this performance. Calibration errors may impact accuracy.
Keywords :
autonomous aerial vehicles; calibration; cameras; iterative methods; path planning; pose estimation; 2D homography; 3D ICP algorithm; 3D iterative closest point algorithm; UAV pose estimation; accurate pose determination; autonomous vehicle navigation; calibration errors; digital Nikon D70 camera; focal length; image data; translational accuracy performance; unmanned aerial vehicle pose estimation; Accuracy; Calibration; Cameras; Iterative closest point algorithm; Lenses; Position measurement; Three-dimensional displays;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2013 18th International Conference on
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4673-5506-3
DOI :
10.1109/MMAR.2013.6669933
