REAL-TIME AND PRECISION ATTITUDE AND POSITION ESTIMATION OF A THREE-DIMENSIONAL OBJECT ON IMAGE

REAL-TIME AND HIGH-PRECISION ATTITUDE AND POSITION ESTIMATION OF A THREE-DIMENSIONAL OBJECT BY IT CONTOUR USING THE THREE-DIMENSIONAL FOURIER DESCRIPTOR. The programm demonsrates functioning of high-speed multi-stage algorithm for estimating three angular coordinates and three linear coordinates of a 3D object with complex surface in space by its contour in the image. The method can be used to implement automatic landing of unmanned aerial vehicles using a computer vision ground station, to detect and track aircraft, spacecraft. The time for estimation the position and spatial orientation is 1ms for unknown initial object position and 0.2 ms in a tracking mode. This time dosen't include contour detection and extraction. The visual target is the MI-8 helicopter. ВЫСОКОТОЧНАЯ ОЦЕНКА ПРОСТРАНСТВЕННОГО ПОЛОЖЕНИЯ ОБЪЕКТА ПО ЕГО КОНТУРУ В РЕАЛЬНОМ МАСШТАБЕ ВРЕМЕНИ НА ОСНОВЕ ТРЕХМЕРНОГО ДЕСКРИПТОРА ФУРЬЕ. Программа демонстрирует работу высокоскоростного и высокоточного многоступенчатого алгорит