Investigation of methods for target state estimation using vision sensors

Gregory F. Ivey, Eric N. Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations

Abstract

Identifying object location and orientation are important tasks in target tracking and obstacle avoidance. This paper proposes an algorithm for identifying target location, size, and orientation without any prior knowledge based on machine vision. The algorithm uses target measurements taken from a video camera to update estimates of the target. Two forms of the Kalman filter were compared as methods for estimating the targets' states. The first, the extended Kalman filter (EKF), uses a Taylor series expansion about the current state to estimate the nonlinear measurement update. The second, the square-root unscented Kalman filter (SRUKF), a form of the unscented Kalman filter (UKF), uses perturbed sigma points to estimate the mean and covariance of the measurement update. The algorithm was tested using periodic vehicle motion and random target location, orientation, and area. Both Kalman filter methods converged on the targets' 3-D position, orientation, and area but required an irregular trajectory to accurately estimate the orientation and area. The estimators were simulated using identical parameters to compare them based on equivalent conditions. This produced similar results from the EKF and SRUKF and therefore neither showed a significant improvement over the other.

Original languageEnglish (US)
Title of host publicationCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
Pages2209-2228
Number of pages20
ISBN (Print)1563477378, 9781563477379
DOIs
StatePublished - Jan 1 2005
EventAIAA Guidance, Navigation, and Control Conference 2005 - San Francisco, CA, United States
Duration: Aug 15 2005Aug 18 2005

Publication series

NameCollection of Technical Papers - AIAA Guidance, Navigation, and Control Conference
Volume3

Other

OtherAIAA Guidance, Navigation, and Control Conference 2005
CountryUnited States
CitySan Francisco, CA
Period8/15/058/18/05

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Ivey, G. F., & Johnson, E. N. (2005). Investigation of methods for target state estimation using vision sensors. In Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference 2005 (pp. 2209-2228). (Collection of Technical Papers - AIAA Guidance, Navigation, and Control Conference; Vol. 3). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2005-6067