EXPERIMENTAL TESTS OF AN ALGORITHM OF ROLL AND PITCH ESTIMATION USING ONLY OPTICAL INFORMATION
Journal Title: Механіка гіроскопічних систем - Year 2015, Vol 0, Issue 29
Abstract
The research concerns the problem of carrying out experimental tests of an image-based measurement system that is able to detect horizon line and calculate it relative position on the image in terms of roll and pitch angles, which assumed to be attitude angles of the camera. Such a system includes two image-based measurement algorithms: horizon line recognition and roll and pitch values estimation. The latter one is based on developed technique of angle values estimation using intrinsic parameters of a camera. Also the matlab-based software for roll and pitch estimation based on horizon detection algorithm is developed. The set of experiments to discover the camera lens characteristics is performed. In order discover the performances of developed system the set of tests in controlled environment is carried out. As a reference sensor a 3-axial accelerometer in the form of inclinometer is used. In this work estimation errors appear rather as a difference between accelerometer and developed software measurements than absolute measurement errors. Thus it is found out that the difference between accelerometer and software measurements exponentially increases with increasing roll angle where as in a range of small angles values are approximately coincide. Also it is noticed some cross-correlation between roll and pitch angles in software calculations. Processing results of real horizon images showed that the developed system detects the horizon line in most cases correctly excluding the hard cases of overlapped horizon and low contrast drop around horizon line area.
Authors and Affiliations
Oleksandr Vasyliovych Zbrutsky,, Yuliya Malysheva
Keywords
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