Towards Helicopter Tracking

CS223b Project #20

Ritchie Lee

Yu-Tai Ray Chen

The Helicopter Tracking Problem

Aerobatic helicopter issues GPS: dependent on antenna direction IMU: integration noise

Visual Tracking Emulate pilot vision Estimate absolute pose

Recover Pose via Planar Homography

Generate a bank of planer marker with known posesRi , Ti and Ni

Record target in motion + generate SIFT features

Feature bank

Obtain SIFT correspondences + remove outliers (RANSAC)

Solve planar Homography:

H=(R+(1/d)*TNT)

Disambiguate R,T,N solutions with knowledge of Ti and Ni

Min ||Nest-RestTNf||

Use marker with most match points

• Rrel, Ri , Trel and Ti calculate pose and position relative to inertial frame• Get Euler or fixed axis angles

Tag target with known planar markers

Results: SIFT Matching

Still frame example/ ~45 degree perspective limitation

Scale invariance

Simple Translation + RotationX-Y Planar Motion Z Depth Motion

Z-axis Rotation X-axis Rotation

More Complex Motion

Y-axis 90+ deg Rotationwith Multiple Markers Free Hovering Motion