Autonomous Helicopter Tracking and Localization Using a Self-Surveying Camera Array. Matsuoka, M., Chen, A., Singh, S. P. N., Coates, A., Ng, A. Y., & Thrun, S. The International Journal of Robotics Research, 26(2):205-215, February, 2007. doi abstract bibtex A Self-Surveying Camera Array (SSCA) is a vision based local-area positioning system consisting of multiple ground-deployed cameras that are capable of self-surveying their extrinsic parameters while tracking and localizing a moving target. This paper presents the array self-surveying algorithm that involves tracking a target helicopter in each camera frame and localizing the helicopter in an array-fixed frame. Three cameras are deployed independently in an arbitrary arrangement that allows each camera to view the helicopter's flight volume. The helicopter then flies an unplanned path that allows the camera array to calibrate their relative locations and orientations by utilizing self-surveying algorithms extended from the well known structure from motion algorithm and the bundle adjustment technique. This yields the cameras' extrinsic parameters enabling real-time helicopter positioning via triangulation relative to the calibrated camera array. This paper also presents results from field trials, which verify the feasibility of the SSCA as a readily deployable system applicable to helicopter tracking and localization. The results demonstrate that, as compared to differential GPS solution as true reference, the SSCA is capable of positioning the helicopter with meter-level accuracy. The SSCA has been integrated with onboard inertia sensors providing a reliable positioning system to enable successful autonomous hovering.
@ARTICLE{ijrr.heli,
author = {M. Matsuoka and A. Chen and S. P. N. Singh and A. Coates and A. Y.
Ng and S. Thrun},
title = {Autonomous Helicopter Tracking and Localization Using a Self-Surveying
Camera Array},
journal = {The International Journal of Robotics Research},
year = {2007},
volume = {26},
pages = {205-215},
number = {2},
month = feb,
abstract = {A Self-Surveying Camera Array (SSCA) is a vision based local-area
positioning system consisting of multiple ground-deployed cameras
that are capable of self-surveying their extrinsic parameters while
tracking and localizing a moving target. This paper presents the
array self-surveying algorithm that involves tracking a target helicopter
in each camera frame and localizing the helicopter in an array-fixed
frame. Three cameras are deployed independently in an arbitrary arrangement
that allows each camera to view the helicopter's flight volume. The
helicopter then flies an unplanned path that allows the camera array
to calibrate their relative locations and orientations by utilizing
self-surveying algorithms extended from the well known structure
from motion algorithm and the bundle adjustment technique. This yields
the cameras' extrinsic parameters enabling real-time helicopter positioning
via triangulation relative to the calibrated camera array. This paper
also presents results from field trials, which verify the feasibility
of the SSCA as a readily deployable system applicable to helicopter
tracking and localization. The results demonstrate that, as compared
to differential GPS solution as true reference, the SSCA is capable
of positioning the helicopter with meter-level accuracy. The SSCA
has been integrated with onboard inertia sensors providing a reliable
positioning system to enable successful autonomous hovering.},
doi = {10.1177/0278364906074898},
pdf = {ijrr_2007.pdf}
}
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P. N.","Coates, A.","Ng, A. Y.","Thrun, S."],"bibbaseid":"matsuoka-chen-singh-coates-ng-thrun-autonomoushelicoptertrackingandlocalizationusingaselfsurveyingcameraarray-2007","bibdata":{"bibtype":"article","type":"article","author":[{"firstnames":["M."],"propositions":[],"lastnames":["Matsuoka"],"suffixes":[]},{"firstnames":["A."],"propositions":[],"lastnames":["Chen"],"suffixes":[]},{"firstnames":["S.","P.","N."],"propositions":[],"lastnames":["Singh"],"suffixes":[]},{"firstnames":["A."],"propositions":[],"lastnames":["Coates"],"suffixes":[]},{"firstnames":["A.","Y."],"propositions":[],"lastnames":["Ng"],"suffixes":[]},{"firstnames":["S."],"propositions":[],"lastnames":["Thrun"],"suffixes":[]}],"title":"Autonomous Helicopter Tracking and Localization Using a Self-Surveying Camera Array","journal":"The International Journal of Robotics Research","year":"2007","volume":"26","pages":"205-215","number":"2","month":"February","abstract":"A Self-Surveying Camera Array (SSCA) is a vision based local-area positioning system consisting of multiple ground-deployed cameras that are capable of self-surveying their extrinsic parameters while tracking and localizing a moving target. This paper presents the array self-surveying algorithm that involves tracking a target helicopter in each camera frame and localizing the helicopter in an array-fixed frame. Three cameras are deployed independently in an arbitrary arrangement that allows each camera to view the helicopter's flight volume. The helicopter then flies an unplanned path that allows the camera array to calibrate their relative locations and orientations by utilizing self-surveying algorithms extended from the well known structure from motion algorithm and the bundle adjustment technique. This yields the cameras' extrinsic parameters enabling real-time helicopter positioning via triangulation relative to the calibrated camera array. This paper also presents results from field trials, which verify the feasibility of the SSCA as a readily deployable system applicable to helicopter tracking and localization. The results demonstrate that, as compared to differential GPS solution as true reference, the SSCA is capable of positioning the helicopter with meter-level accuracy. The SSCA has been integrated with onboard inertia sensors providing a reliable positioning system to enable successful autonomous hovering.","doi":"10.1177/0278364906074898","pdf":"ijrr_2007.pdf","bibtex":"@ARTICLE{ijrr.heli,\r\n author = {M. Matsuoka and A. Chen and S. P. N. Singh and A. Coates and A. Y.\r\n\tNg and S. Thrun},\r\n title = {Autonomous Helicopter Tracking and Localization Using a Self-Surveying\r\n\tCamera Array},\r\n journal = {The International Journal of Robotics Research},\r\n year = {2007},\r\n volume = {26},\r\n pages = {205-215},\r\n number = {2},\r\n month = feb,\r\n abstract = {A Self-Surveying Camera Array (SSCA) is a vision based local-area\r\n\tpositioning system consisting of multiple ground-deployed cameras\r\n\tthat are capable of self-surveying their extrinsic parameters while\r\n\ttracking and localizing a moving target. This paper presents the\r\n\tarray self-surveying algorithm that involves tracking a target helicopter\r\n\tin each camera frame and localizing the helicopter in an array-fixed\r\n\tframe. Three cameras are deployed independently in an arbitrary arrangement\r\n\tthat allows each camera to view the helicopter's flight volume. The\r\n\thelicopter then flies an unplanned path that allows the camera array\r\n\tto calibrate their relative locations and orientations by utilizing\r\n\tself-surveying algorithms extended from the well known structure\r\n\tfrom motion algorithm and the bundle adjustment technique. This yields\r\n\tthe cameras' extrinsic parameters enabling real-time helicopter positioning\r\n\tvia triangulation relative to the calibrated camera array. This paper\r\n\talso presents results from field trials, which verify the feasibility\r\n\tof the SSCA as a readily deployable system applicable to helicopter\r\n\ttracking and localization. The results demonstrate that, as compared\r\n\tto differential GPS solution as true reference, the SSCA is capable\r\n\tof positioning the helicopter with meter-level accuracy. The SSCA\r\n\thas been integrated with onboard inertia sensors providing a reliable\r\n\tpositioning system to enable successful autonomous hovering.},\r\n doi = {10.1177/0278364906074898},\r\n pdf = {ijrr_2007.pdf}\r\n}\r\n\r\n","author_short":["Matsuoka, M.","Chen, A.","Singh, S. P. N.","Coates, A.","Ng, A. 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