飛行力学に基づく地上カメラからのUAV軌道復元
Flight Dynamics-based Recovery of a UAV Trajectory using Ground Cameras
複数の固定地上カメラ映像から、飛行力学の事前知識をバンドル調整に組み込んでクアッドロータUAVの6自由度軌道を推定し、制御入力まで復元する手法を提案した。
著者: Artem Rozantsev, Sudipta N. Sinha, Debadeepta Dey, Pascal Fua
分類: cs.CV, cs.RO
原文アブストラクト
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D reconstruction of a single moving point with known motion dynamics. Our main contribution is a new bundle adjustment procedure which in addition to optimizing the camera poses, regularizes the point trajectory using a prior based on motion dynamics (or specifically flight dynamics). Furthermore, we can infer the underlying control input sent to the UAV's autopilot that determined its flight trajectory. Our method requires neither perfect single-view tracking nor appearance matching across views. For robustness, we allow the tracker to generate multiple detections per frame in each video. The true detections and the data association across videos is estimated using robust multi-view triangulation and subsequently refined during our bundle adjustment procedure. Quantitative evaluation on simulated data and experiments on real videos from indoor and outdoor scenes demonstrates the effectiveness of our method.
