Autonomous Helicopter Tracking and Localization Using a Self-Calibrating Camera Array

Autonomous Helicopter Tracking and Localization Using a Self-Calibrating Camera Array. Matsuoka, M., Chen, A., & Singh, S. P. N. In Proceedings of the International Conference on Field and Service Robotics (FSR 2005), pages 19-30, July, 2005.
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This paper describes an algorithm that tracks and localizes a helicopter using a ground-based trinocular camera array. The three cameras are placed 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 cameras to self-survey utilizing an algorithm based on structure from motion and bundle adjustment. This yields the camera�s extrinsic parameters allowing for real-time positioning of the helicopter�s position in a camera array based coordinate frame. In fielded experiments, there is less than a 2m RMS tracking error and the update rate of 20Hz is comparable to DGPS update rates. This system has successfully been integrated with an IMU to provide a positioning system for autonomous

@INPROCEEDINGS{3cam.fsr,
  author = {M. Matsuoka and A. Chen and S. P. N. Singh},
  title = {{Autonomous Helicopter Tracking and Localization Using a Self-Calibrating
	Camera Array}},
  booktitle = {Proceedings of the International Conference on Field and Service
	Robotics ({FSR} 2005)},
  year = {2005},
  pages = {19-30},
  month = jul,
  abstract = {This paper describes an algorithm that tracks and localizes a helicopter
	using a ground-based trinocular camera array. The three cameras are
	placed 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 cameras to self-survey utilizing
	an algorithm based on structure from motion and bundle adjustment.
	This yields the camera�s extrinsic parameters allowing for real-time
	positioning of the helicopter�s position in a camera array based
	coordinate frame. In fielded experiments, there is less than a 2m
	RMS tracking error and the update rate of 20Hz is comparable to DGPS
	update rates. This system has successfully been integrated with an
	IMU to provide a positioning system for autonomous},
  doi = {10.1007/11736592_3},
  owner = {SPNSPUB}
}

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