A hierarchical method based on optical flow for planar 3D motion estimation
Peng Yan · Optical Technique · 2007
During the last phase of autolanding an UAV(Unmanned Aerial Vehicle) on the deck,the estimation of relative position and orientation between UAV and the naval ship can be regarded as the planar 3D motion estimation between the camera mounted on the UAV and the deck.A hierarchical method based on optical flow was presented.First,the image sequences of landing target were taken by the camera on board with known intrinsic calibration and the Lucas-Kanade method was adopted to compute optical flow of two successive frames.Then a new hierarchical model was proposed to decompose nonlinear problem of the 3D motion estimation into two linear equations.Finally 3-D motion parameters of landing target relative to UAV were recovered without any image feature match.Computer rendered image simulations and experimental results with real video images show that the proposed approaches are both correctness and effectiveness.