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Article
Calibrating an Air-Ground Control System from Motion Correspondences
Departmental Papers (CIS)
  • Rahul Rao, University of Pennsylvania
  • Camillo J Taylor, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
Date of this Version
6-27-2004
Document Type
Conference Paper
Comments
Copyright 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition(CVPR 2004), Volume 2, pages 218-225.
Publisher URL: http://ieeexplore.ieee.org/x pl/tocresult.jsp?isNumber=29134&page=2

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Abstract

In this paper we consider the problem of controlling the motion of a vehicle moving on a ground plane based on aerial imagery. In the course of this work we propose a novel analysis of the relationship between the velocity of the vehicle on the ground plane and the velocity of its projection in the image. We show that this relationship provides information about a subset of the parameters of the homography relating the ground plane to the aerial image plane and describe how we can recover this relationship from available measurements.

Citation Information
Rahul Rao, Camillo J Taylor and R. Vijay Kumar. "Calibrating an Air-Ground Control System from Motion Correspondences" (2004)
Available at: http://works.bepress.com/vijay_kumar/32/