Accession Number : AD1031534

Title :   Vision-Based Position Estimation Utilizing an Extended Kalman Filter

Descriptive Note : Technical Report

Corporate Author : Naval Postgraduate School Monterey United States

Personal Author(s) : Testa,Joseph III B

Full Text :

Report Date : 01 Dec 2016

Pagination or Media Count : 69

Abstract : The purpose of this project is to develop and integrate a prototype multicopter Unmanned Aerial Vehicle (UAV) with a vision-based algorithm to enable a relative position hold capability. The resulting solution will enable automatic operation of a UAV with respect to another visually detectable object without use of GPS receiver or when GPS signal is not available. Navigating a robot in a GPS-denied environment is a desired feature in many applications, including Maritime Interdiction Operations. While automatically maintaining its relative position with respect to a given target, the onboard system will also provide video coverage of blind spots and network relay between the boarding team and ship.

Descriptors :   unmanned aerial vehicles , kalman filters , estimators , change detection , computer vision , measurement , algorithms , autonomous navigation , image processing , image recognition , target acquisition , calibration

Subject Categories : Pilotless Aircraft
      Air Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE