A Survey on 3D Visual Tracking of Multicopters

被引：15
|
作者：
Fu, Qiang [1 ,2 ]
Chen, Xiang-Yang [1 ,2 ]
He, Wei [1 ,2 ]
机构：
[1] Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China
[2] Univ Sci & Technol Beijing, Inst Artificial Intelligence, Beijing 100083, Peoples R China
来源：
INTERNATIONAL JOURNAL OF AUTOMATION AND COMPUTING | 2019年 / 16卷 / 06期
基金：
中国国家自然科学基金;
关键词：
Multicopter; three-dimensional (3D) visual tracking; camera placement; camera calibration; pose estimation; OPTIMAL CAMERA PLACEMENT; POSE ESTIMATION; SELF-CALIBRATION; NAVIGATION; SENSOR;
D O I：
10.1007/s11633-019-1199-2
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Three-dimensional (3D) visual tracking of a multicopter (where the camera is fixed while the multicopter is moving) means continuously recovering the six-degree-of-freedom pose of the multicopter relative to the camera. It can be used in many applications, such as precision terminal guidance and control algorithm validation for multicopters. However, it is difficult for many researchers to build a 3D visual tracking system for multicopters (VTSMs) by using cheap and off-the-shelf cameras. This paper firstly gives an overview of the three key technologies of a 3D VTSMs: multi-camera placement, multi-camera calibration and pose estimation for multicopters. Then, some representative 3D visual tracking systems for multicopters are introduced. Finally, the future development of the 3D VTSMs is analyzed and summarized.
引用
收藏
页码：707 / 719
页数：13
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