Relative Motion Estimation for Vision-based Formation Flight using Unscented Kalman Filter

  title={Relative Motion Estimation for Vision-based Formation Flight using Unscented Kalman Filter},
  author={Seung-Min Oh and Eric N. Johnson},
This paper describes a vision-based relative motion estimator in the formation flight of two unmanned aerial vehicles (UAV’s). The navigation of a follower aircraft relative to a target (or leader) aircraft is performed by vision-only information from a single camera fixed to the follower aircraft. The images of the target aircraft projected on the videocamera plane of the follower aircraft are captured and processed into vision information. The vision information for the relative motion… CONTINUE READING
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