3D tracking between satellites using monocular computer vision
Date
2005-03
Authors
Malan, Daniel Francois
Journal Title
Journal ISSN
Volume Title
Publisher
Stellenbosch : University of Stellenbosch
Abstract
Visually estimating three-dimensional position, orientation and motion, between an observer
and a target, is an important problem in computer vision. Solutions which compute threedimensional
movement from two-dimensional intensity images, usually rely on stereoscopic
vision. Some research has also been done in systems utilising a single (monocular) camera.
This thesis investigates methods for estimating position and pose from monocular image sequences.
The intended future application is of visual tracking between satellites flying in close
formation. The ideas explored in this thesis build on methods developed for use in camera calibration,
and structure from motion (SfM). All these methods rely heavily on the use of different
variations of the Kalman Filter.
After describing the problem from a mathematical perspective we develop different approaches
to solving the estimation problem. The different approaches are successfully tested on simulated
as well as real-world image sequences, and their performance analysed.
Description
Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2005.
Keywords
Computer vision, Kalman filtering, Theses -- Electrical and electronic engineering, Dissertations -- Electrical and electronic engineering