| Popis: |
The trajectory calculation system based on optical camera calculates the current coordinates of the aircraft position, analyzing the video information by comparing the sequence of images. In this system, the «KAZE» detector and descriptor algorithm is used to determine the feature points of the image. The «KAZE» algorithm is invariant to scale and rotation, which is a required condition for aircraft. The motion estimation of the camera is determined using the "2D-to-2D" method. The essence of this method consists in the definition of the rotation matrix and the translation vector of the camera between two camera positions. The matching of the particular points in the two pictures, that needed to determine the essential matrix, is the necessary data for the system operation. From the essential matrix, the rotation matrix and the translation vector are determined by using the feature points triangulation. By using the feature points triangulating from its two projections, the coordinates of this point in the three-dimensional space are determined. Triangulation is performed using the SVD of matrix. |
