Abstract This paper describes the results of a study focused on the evaluation of the performance of specific algorithms for the “point matching” task within the general problem applying machine vision-based control laws for the problem of aerial refueling (AR) forUAVs.Two different point matching algorithms for the identification of the corner-points the tanker are proposed. A detailed study of the algorithms performed with special emphasis on the correct matching and required computational effort. The results show the importance of a correct point-matching scheme for obtaining accurate pose estimation; furthermore, the analysis highlights the tradeoffs involved in the selection of the appropriate algorithms.
Comparison of Point Matching Algorithms for the UAV Aerial Refueling Problem
FRAVOLINI, Mario Luca
2010
Abstract
Abstract This paper describes the results of a study focused on the evaluation of the performance of specific algorithms for the “point matching” task within the general problem applying machine vision-based control laws for the problem of aerial refueling (AR) forUAVs.Two different point matching algorithms for the identification of the corner-points the tanker are proposed. A detailed study of the algorithms performed with special emphasis on the correct matching and required computational effort. The results show the importance of a correct point-matching scheme for obtaining accurate pose estimation; furthermore, the analysis highlights the tradeoffs involved in the selection of the appropriate algorithms.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
