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Trajectory generation for constant velocity target motion estimation using monocular vision

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2 Author(s)
E. W. Frew ; Dept. of Aeronaut. & Astronaut., Stanford Univ., CA, USA ; S. M. Rock

The performance of monocular vision based target tracking is a strong function of camera motion. Without motion, the target estimation problem is unsolvable. By designing the camera path, the best possible estimator performance can be achieved. This paper describes a trajectory design method based on the predicted target state error covariance. This method uses a pyramid, breadth-first search algorithm to generate real-time paths that achieve a minimum uncertainty bound in fixed time or a desired uncertainty bound in minimum time.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003