target localization, UAV, unmanned aircraft
This paper presents a method for localizing a ground-based object when imaged from a small fixed-wing unmanned aerial vehicle (UAV). Using the pixel location of the target in an image, with measurements of UAV position and attitude, and camera pose angles, the target is localized in world coordinates. This paper presents a study of possible error sources and localization sensitivities to each source. The localization method has been implemented and experimental results are presented demonstrating the localization of a target to within 11 m of its known location.
Original Publication Citation
Redding, J., McLain, T., Beard, R., and Taylor, C. Vision-based Target Localization from a Fixed-wing Unmanned Aerial Vehicle, Proceedings of the American Control Conference, pp. 2862-2867, June 2006, Minneapolis, Minnesota.
BYU ScholarsArchive Citation
Redding, Joshua D.; McLain, Timothy W.; Beard, Randal W.; and Taylor, Clark N., "Vision-based Target Localization from a Fixed-wing Miniature Air Vehicle" (2006). Faculty Publications. 1537.
Ira A. Fulton College of Engineering and Technology
(c) 2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. DOI: 10.1109/ACC.2006.1657153
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