TY - GEN
T1 - Depth and normal vector identification of an unknown slope from a UAV using a single camera
AU - Liu, Zhichao
AU - Wang, Jianliang
AU - Kee, Poh Eng
AU - Sundaram, Suresh
PY - 2013
Y1 - 2013
N2 - This paper presents a novel vision-based system to estimate the normal vector of an unknown slope and the range from a camera fixed on a UAV to the slope using a single camera. An exact point-based image moments model considering the camera's focal length is presented. Using the model, a fast estimator is designed to estimate the image flow with high precision. The continuous model is then discretized using Taylor series method. Finally, a particle filter is used to obtain a solution to the estimation problem. The whole system estimates simultaneously the normal vector of the unknown slope and the depth from the camera on the UAV to the slope.
AB - This paper presents a novel vision-based system to estimate the normal vector of an unknown slope and the range from a camera fixed on a UAV to the slope using a single camera. An exact point-based image moments model considering the camera's focal length is presented. Using the model, a fast estimator is designed to estimate the image flow with high precision. The continuous model is then discretized using Taylor series method. Finally, a particle filter is used to obtain a solution to the estimation problem. The whole system estimates simultaneously the normal vector of the unknown slope and the depth from the camera on the UAV to the slope.
UR - http://www.scopus.com/inward/record.url?scp=84886552499&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2013.6606215
DO - 10.1109/ASCC.2013.6606215
M3 - Conference contribution
AN - SCOPUS:84886552499
SN - 9781467357692
T3 - 2013 9th Asian Control Conference, ASCC 2013
BT - 2013 9th Asian Control Conference, ASCC 2013
T2 - 2013 9th Asian Control Conference, ASCC 2013
Y2 - 23 June 2013 through 26 June 2013
ER -