Visual Pose Estimation for Shipboard Landing of Autonomous Parafoils

C.W. Hewgley, R. Cristi, O.A. Yakimenko

Abstract:	This paper outlines an investigation into the use of a simple, focal-plane imaging sensor for guidance of an autonomous parafoil system for approach and landing on a moving platform such as a ship underway. The perspective-projective transformation between an object in a three-dimensional world and an image on a two-dimensional plane is analyzed and then formulated using a homogeneous coordinate system. The estimation problem is addressed; specifically, the challenge of dealing with the out-of-frame condition due to parafoil oscillation as it approaches the target. A dual-mode Kalman estimation-scheme is proposed that suspends measurement when the target is out-of-frame, and incorporates a two-view measurement when the target reenters the frame.
Published in:	Proceedings of IEEE/ION PLANS 2014 May 5 - 8, 2014 Hyatt Regency Hotel Monterey, CA
Pages:	1301 - 1308
Cite this article:	Hewgley, C.W., Cristi, R., Yakimenko, O.A., "Visual Pose Estimation for Shipboard Landing of Autonomous Parafoils," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 1301-1308. https://doi.org/10.1109/PLANS.2014.6851505
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