职位(财务)
跟踪(教育)
蒙特卡罗方法
视野
特征(语言学)
计算机科学
帧(网络)
运动(物理)
平面(几何)
旋转(数学)
大地测量学
计算机视觉
地质学
人工智能
物理
数学
几何学
经济
电信
哲学
统计
语言学
教育学
心理学
财务
作者
Wei Shao,Shulin Sui,Lin Meng,Yaobin Yue
出处
期刊:IEEE/CAA Journal of Automatica Sinica
[Institute of Electrical and Electronics Engineers]
日期:2015-04-10
卷期号:2 (2): 198-206
被引量:2
标识
DOI:10.1109/jas.2015.7081659
摘要
The planetary lander usually selects image feature points and tracks them from frame to frame in order to determine its own position and velocity during landing. Aiming to keep features tracking in consecutive frames, this paper proposes an approach of calculating the field of view (FOV) overlapping area in a 2D plane. Then the rotational and translational motion constraints of the lander can be found. If the FOVs intersects each other, the horizontal velocity of the lander is quickly estimated based on the least square method after the ill-conditioned matrices are eliminated previously. The Monte Carlo simulation results show that the proposed approach is not only able to recover the ego-motion of planetary lander, but also improves the stabilization performance. The relationship of the estimation error, running time and number of points is shown in the simulation results as well.
科研通智能强力驱动
Strongly Powered by AbleSci AI