Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter

Dhong Hun Lee, Sang Su Lee, Hyun Ho Kang, Choon Ki Ahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we propose an algorithm for obtaining camera coordinates for unmanned aerial vehicles (UAVs) using SolvePnP and Kalman filter (KF). The data and motion of circle can be recognized and tracked through the KF with high accuracy. Then, the recognized circle is used as an image point of the SolvePnP algorithm. The translation and rotation vectors can be extracted from reference of the world coordinate system using the image point. The position of UAVs can be obtained from the extracted information and the results demonstrate that the position can be derived from only camera. The robust performance of the proposed algorithm is demonstrated through experimental results.

Original languageEnglish
Title of host publicationProceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
EditorsLei Kai
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages250-251
Number of pages2
ISBN (Electronic)9781538648704
DOIs
Publication statusPublished - 2019 Jan 8
Event1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 - Shenzhen,Guangdong, China
Duration: 2018 Aug 152018 Aug 17

Publication series

NameProceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018

Conference

Conference1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018
CountryChina
CityShenzhen,Guangdong
Period18/8/1518/8/17

Keywords

  • Kalman filter
  • Position estimation
  • SolvePnP
  • UAVs

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Information Systems

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  • Cite this

    Lee, D. H., Lee, S. S., Kang, H. H., & Ahn, C. K. (2019). Camera Position Estimation for UAVs Using SolvePnP with Kalman Filter. In L. Kai (Ed.), Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018 (pp. 250-251). [8606037] (Proceedings of 2018 1st IEEE International Conference on Hot Information-Centric Networking, HotICN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HOTICN.2018.8606037