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Camera Based Navigation: Matching between Sensor reference and Video image
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
2008 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

an Internal Navigational System and a Global Navigational Satellite System (GNSS). In navigational warfare the GNSS can be jammed, therefore are a third navigational system is needed. The system that has been tried in this thesis is camera based navigation. Through a video camera and a sensor reference the position is determined. This thesis will process the matching between the sensor reference and the video image.

Two methods have been implemented: normalized cross correlation and position determination through a homography. Normalized cross correlation creates a correlation matrix. The other method uses point correspondences between the images to determine a homography between the images. And through the homography obtain a position. The more point correspondences the better the position determination will be.

The results have been quite good. The methods have got the right position when the Euler angles of the UAV have been known. Normalized cross correlation has been the best method of the tested methods.

Place, publisher, year, edition, pages
2008. , 79 p.
Keyword [en]
Euler angles, DCM, camera navigation, RANSAC, cross correlation, Harris corner detection
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:liu:diva-15952ISRN: LITH-ISY-EX--08/4170--SEOAI: oai:DiVA.org:liu-15952DiVA: diva2:128466
Subject / course
Computer Vision Laboratory
Presentation
(Swedish)
Uppsok
Technology
Supervisors
Examiners
Available from: 2009-03-09 Created: 2008-12-17 Last updated: 2012-07-02Bibliographically approved

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Camera Based Navigation(3834 kB)1597 downloads
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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf