UNMANNED AERIAL VEHICLE TRAJECTORY PLANNING BASED ON A VIDEO SEQUENCE FROM ITS CAMERA
A.G. Tashlinskii1, I.Yu. Sherbakov1, S.N. Suchkov1, I.A. Ilyin1, G.L. Safina2
1Ulyanovsk State Technical University, Ulyanovsk, Russia
2Moscow State University of Civil Engineering, Moscow, Russia
Keywords: image processing, unmanned aerial vehicles, navigation, positioning, trajectory, complex points, affine transformation, optical flow
Abstract
A method of unmanned aerial vehicle trajectory planning has been developed. This method is based on the analysis of a video stream from a camera mounted on the vehicle, without using information from global navigation systems. The trajectory is planned using the determined parameters of an affine model of mutual spatial misalignment of adjacent video frames. The method utilizes the Shi-Tomassi singularity detection method, the Lucas-Kanade optical flow method, and the Kalman filter. The results of the method implementation on single-board computers and testing it under limited computing resources on real video sequences are presented.
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