Camera Based Navigation: Matching between Sensor reference and Video image
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
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.
Euler angles, DCM, camera navigation, RANSAC, cross correlation, Harris corner detection
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:liu:diva-15952ISRN: LITH-ISY-EX--08/4170--SEOAI: oai:DiVA.org:liu-15952DiVA: diva2:128466
Subject / course
Computer Vision Laboratory
Forssén, Per Erik