Trajectory generation for constant velocity target motion estimation using monocular vision

- The performance of monocular vision based target tracking is a strong function of camera motion. Without motion, the target estimation problem is unsolvable. By designing the camera path, the best possible estimator performance can be achieved. This paper describes a trajectory design method based on the predicted target state error covariance. This method uses a pyramid, breadth-first search algorithm to generate realtime paths that achieve a minimum uncertainty bound in fixed time or a desired uncertainty bound in minimum time.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Eric W. Frew, Stephen M. Rock
• Keywords: ICRA 2003, Robotics, Target Estimation Problem, Uncertainty Bound, Vision Based Target