A FEASIBILITY STUDY ON USING ViSP’S 3D MODEL-BASED TRACKER FOR UAV POSE ESTIMATION IN OUTDOOR ENVIRONMENTS
- Geomatics Engineering, GeoICT Lab Department of Earth and Space Science and Engineering Lassonde School of Engineering, York University 4700 Keele Str., Toronto, Ontario, M3J 1P3, Canada
Keywords: UAV, Close Range Photogrammetry, Mapping, Tracking, Robotics, Navigation, Object Recognition, Augmented Reality, ViSP
Abstract. This paper presents a novel application of the Visual Servoing Platform’s (ViSP) for small UAV pose estimation in outdoor environments. Given an initial approximation for the camera position and orientation, or camera pose, ViSP automatically establishes and continuously tracks corresponding features between an image sequence and a 3D wireframe model of the environment. As ViSP has been demonstrated to perform well in small and cluttered indoor environments, this paper explores the application of ViSP for UAV mapping of outdoor landscapes and tracking of large objects (i.e. building models). Our presented experiments demonstrate the data obtainable by the UAV, assess ViSP’s data processing strategies, and evaluate the performance of the tracker.