Detail publikace

On accuracy of position estimation from aerial imagery captured by low-flying UAVs

BABINEC, A. APELTAUER, J.

Originální název

On accuracy of position estimation from aerial imagery captured by low-flying UAVs

Typ

článek v časopise ve Scopus, Jsc

Jazyk

angličtina

Originální abstrakt

The application of low-flying Unmanned Aerial Vehicles (UAVs) for traffic monitoring and surveillance requires an estimation of position measurement accuracy of monitored objects. In this work we aim to analyse and provide insight into the accuracy of position estimation of objects based on aerial imagery captured by low flying UAV for the purpose of traffic monitoring. The analysis is focused on data gathered by a low-cost action camera mounted on a multicopter UAV flying above a planar scene. We assume a simple, straightforward method of position estimation of object based on homography mapping between two 2D planes derived from the position of images of landmarks - objects with known real world position. We assume errors caused by inaccuracy of the following values: the landmarks' real world position, the landmarks' and target's real world elevation, and the captured image positions of both the landmarks and the target. Additionally, a geometric deformation of captured frame caused by imperfect camera lenses is considered. The paper further analyses the effect of varying magnitude of errors, camera position, incidence angle and both the landmarks' and the target's positions in the scene or captured frame, and compares the results with real world experiments. The results can be used to estimate the feasibility and applicability of certain solutions to object position estimation. The tool for the calculation of the accuracy of position estimation and locating the most suitable camera pose for a given setup is provided.

Klíčová slova

Accuracy analysis, Error propagation, Monte Carlo sampling, Planar scene, Image distortion

Autoři

BABINEC, A.; APELTAUER, J.

Vydáno

27. 3. 2017

ISSN

2046-0430

Periodikum

International Journal of Transportation Science and Technology

Ročník

5

Číslo

3

Stát

Čínská lidová republika

Strany od

152

Strany do

166

Strany počet

15

URL

https://doi.org/10.1016/j.ijtst.2017.02.002

BibTex

@article{BUT144441,
  author="Adam {Babinec} and Jiří {Apeltauer}",
  title="On accuracy of position estimation from aerial imagery captured by low-flying UAVs",
  journal="International Journal of Transportation Science and Technology",
  year="2017",
  volume="5",
  number="3",
  pages="152--166",
  doi="10.1016/j.ijtst.2017.02.002",
  issn="2046-0430",
  url="https://doi.org/10.1016/j.ijtst.2017.02.002"
}