Vision-Based Position Estimation Utilizing an Extended Kalman Filter

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.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2016
Accession Number
AD1031534

Entities

People

  • Joseph Iii B. Testa

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Acquisition
  • Aircrafts
  • Algorithms
  • Change Detection
  • Computer Vision
  • Detection
  • Detectors
  • Environment
  • Estimators
  • Filters
  • Image Processing
  • Image Recognition
  • Kalman Filters
  • Measurement
  • Object Recognition
  • Robots
  • Unmanned Aerial Vehicles

Readers

  • Aerial Unmanned Vehicle Swarm Micro Periodontal Dentistry.
  • Positioning, Navigation, and Timing (PNT) Technology.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Space