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《Journal of Zhejiang University(Engineering Science)》 2009-01
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Vision-based mini unmanned helicopter pose and position estimation

REN Qin-yuan,LI Ping,HAN Bo(Institute of Industrial Process Control,Zhejiang University,Hangzhou 310027,China)  
The vision-based pose and position estimation approach was proposed for mini unmanned helicopter(MUH).The relationship between vision information and MUH movements was analyzed.The homography between the sequential images captured from MUH was the key of the approach.The homography was solved according to the series of matching feature points between the sequential images.The scale invariant feature transform(SIFT) features and a matching strategy based on random sample consensus(RANSAC) algorithm were employed to obtain the stable and anti-noise points in the same plane.The experimental results of real flights verified that the approach can meet the MUH flight precision needs.
【Fund】: 国家“863”高技术研究发展计划资助项目(2006AA10Z204)
【CateGory Index】: V279
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