A Survey on 3D Visual Tracking of Multicopters
- PDF / 1,887,846 Bytes
- 13 Pages / 595.26 x 841.82 pts (A4) Page_size
- 77 Downloads / 172 Views
vey on 3D Visual Tracking of Multicopters Qiang Fu 1,2 Xiang-Yang Chen 1,2 Wei He 1,2 1 School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China 2 Institute of Artificial Intelligence, University of Science and Technology Beijing, Beijing 100083, China
Abstract: 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. Keywords: Multicopter, three-dimensional (3D) visual tracking, camera placement, camera calibration, pose estimation.
1 Introduction Multicopters have been widely used in recent years[1, 2], e.g., in aerial photography, goods transportation and search and rescue. Accurate and robust pose estimation (or motion estimation) of these vehicles is a crucial issue for their autonomous operation. With advantages in the aspects of accuracy, weight, cost, and applicable environment, vision sensors have become a popular choice for providing location (or three-dimensional (3D) tracking) results for multicopters[3, 4]. Note that 3D visual tracking means continuously recovering the six-degree-of-freedom pose of an object relative to the camera (the camera is fixed while the object is moving) or the camera relative to the scene (the scene is fixed while the camera is moving)[5]. Considering that small multicopters often feature CPUs with limited capabilities, this paper focuses on studying the former case. Compared to 3D visual tracking, the traditional 2D visual tracking aims at continuously recovering the size, the centroid or the trajectory of the object in the image[6, 7], but does not involve recovering the 3D position of the object. From the perspective of aims, 3D visual tracking goes further than 2D visual tracking and is more challenging. The relationship between 3D visual tracking and 2D visual tracking is shown in Fig. 1. Although there are some commercial products for 3D visual tracking, such as Vicon[8] and OptiTrack[9], they are expensive and proprietary. Moreover, these 3D visual tracking systems are not specially designed for multi Research Article Manuscript received December 28, 2018; accepted August 15, 2019 Recommended by Associate Editor Nazim Mir-Nasiri © Institute of Automation, Chinese Academy of Sciences and S
Data Loading...
