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 : https://apps.dtic.mil/dtic/tr/fulltext/u2/1031534.pdf


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