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7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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W
RAHRS|i
1024 768 5fpsK
f
I(x, y)|i x y i
{W} z = 0
{D}|i
7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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AHRSRCAM
WRCAM|i =
WRAHRS|i
AHRSRCAM
f
DRCAM|i =
DRW
WRCAM|i
{D}|i {W}
DRW =
1 0 00 1 00 0 1
(x,x)(X,X) {D}|i
7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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X =
(xxnx)hi
f(xyny)hif
hi
, X(t) =
(xxnx)(hitz/tw)
f+ tx
tw(xyny)(hitz/tw)
f +tytw
hi tz
x = [xx, xy, 1]Tx =
xx, x
y, 1
Th
t t = [tx, ty , tz, tw]T
t X(t) = X {D}|i {D}|i+1
nX = {Xk|k = 1 . . . n} X
=X
k|k = 1 . . . n
t0
x y t0 0X X(0)
0t0 0 = (hi tz)/hi
t0
X
X(t) t
t X(t)
7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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min(tx,ty,tz,tw)
k=1...n
distX
k (t) ,Xk
distt
t
0.35m/s2
0.2 s
1m/s 4m/s
{W}
7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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{W}
{D} WxC {W}
5
1m/s2
2 Hz 10dB
7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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7/31/2019 Tracking From a Moving Camera With Attitude Estimates.
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