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Vision-Based Position Estimation Utilizing an Extended Kalman Filter

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Naval Postgraduate School Monterey United States

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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.

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Technical Report



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Approved For Public Release;

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