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Full-Text Articles in Engineering
The Homography As A State Transformation Between Frames In Visual Multi-Target Tracking, Jacob H. White, Randal W. Beard
The Homography As A State Transformation Between Frames In Visual Multi-Target Tracking, Jacob H. White, Randal W. Beard
Student Works
No abstract provided.
An Iterative Five-Point Algorithm With Application To Multi-Target Tracking, Jacob H. White, Randal W. Beard
An Iterative Five-Point Algorithm With Application To Multi-Target Tracking, Jacob H. White, Randal W. Beard
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We present ReSORtSAC: Recursively-seeded optimization, refinement, sample, and consensus. ReSORtSAC is a novel algorithm that can be used to estimate the relative pose between consecutive frames of a video sequence. Relative pose estimation algorithms typically generate a large number of hypotheses from minimum subsets and score them in order to be robust to noise and outliers. The relative pose is often represented using the essential matrix. Previous methods calculate essential matrix hypotheses directly without utilizing prior information. These equations are complex to evaluate and can return up to ten essential matrix solutions for each minimum subset, all of which must …
Relative Target Estimation Using A Cascade Of Extended Kalman Filters, Jerel Nielsen, Randal Beard
Relative Target Estimation Using A Cascade Of Extended Kalman Filters, Jerel Nielsen, Randal Beard
Student Works
This paper presents a method of tracking multiple ground targets from an unmanned aerial vehicle (UAV) in a 3D reference frame. The tracking method uses a monocular camera and makes no assumptions on the shape of the terrain or the target motion. The UAV runs two cascaded estimators. The first is an Extended Kalman Filter (EKF), which is responsible for tracking the UAV’s state, such as position and velocity relative to a fixed frame. The second estimator is an EKF that is responsible for estimating a fixed number of landmarks within the camera’s field of view. Landmarks are parameterized by …