WP6: IST / INRIA-Sophia Tiago F. Gonçalves, José R. Azinheira, Patrick Rives. March 12-13, 2009 Ljubljana. Contents. Previous Work Visual Tracking (INRIA-Sophia / IST) Dynamic management of ROIs Direct visual tracking Visual Servoing (IST / INRIA-Sophia) Sensor-based
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March 12-13, 2009
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when the aircraft is manoeuvering
and indexed by respective camera pose
reference image ROIs
x/v -> pose/velocities states measured by aircraft sensors
y = f (H = R+tn’/d) pose data extrated from homography
ye = (LscW0)+(H(:) – H*(:)), with H* = I(3)
(Rives and Azinheira)