TRACKING THE TRAJECTORY OF A UAV BY A SEQUENCE OF FRAMES FROM ITS CAMERA

A method for tracking the trajectory of a UAV is proposed based on the analysis of successive frames from a camera located on this device. When implementing the method, the Shi-Tomasi algorithm for finding reference points, Sobel operators, the Hesse matrix and the method for finding the Lucas–Canada optical flow were used. The geometric mismatch of the frame images is estimated by the parameters of the general affine model. The method makes it possible to improve the accuracy of trajectory tracking in conditions of changing shooting parameters, in particular, UAV rotations and camera displacement.

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Publication Details

Published
2024-10-21
DOI
https://doi.org/10.61527/appfe-2024.102-104
Primary Topic
Robotic Path Planning Algorithms
Type
article
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article

TRACKING THE TRAJECTORY OF A UAV BY A SEQUENCE OF FRAMES FROM ITS CAMERA

I. N. Shcherbakov, А. Г. Ташлинский
Robotic Path Planning Algorithms
article

TRACKING THE TRAJECTORY OF A UAV BY A SEQUENCE OF FRAMES FROM ITS CAMERA

I. N. Shcherbakov, А. Г. Ташлинский
article en

Abstract

A method for tracking the trajectory of a UAV is proposed based on the analysis of successive frames from a camera located on this device. When implementing the method, the Shi-Tomasi algorithm for finding reference points, Sobel operators, the Hesse matrix and the method for finding the Lucas–Canada optical flow were used. The geometric mismatch of the frame images is estimated by the parameters of the general affine model. The method makes it possible to improve the accuracy of trajectory tracking in conditions of changing shooting parameters, in particular, UAV rotations and camera displacement.

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TRACKING THE TRAJECTORY OF A UAV BY A SEQUENCE OF FRAMES FROM ITS CAMERA — I. N. Shcherbakov, А. Г. Ташлинский · (2024) | TGRS Research Map | TGRS