Calibrating an Air-Ground Control System from Motion Correspondences
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In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.
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2004-06-27
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2023-05-16T21:42:59.000
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Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition(CVPR 2004), Volume 2, pages 218-225. Publisher URL: http://ieeexplore.ieee.org/x pl/tocresult.jsp?isNumber=29134&page=2 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.