Towards Helicopter Tracking CS223b Project #20 Ritchie Lee Yu-Tai Ray Chen

The Helicopter Tracking Problem Aerobatic helicopter issues GPS: dependent on antenna direction IMU: integration noise Visual Tracking Emulate pilot vision Estimate absolute pose

Recover Pose via Planar Homography Generate a bank of planer marker with known poses R i, T i and N i Record target in motion + generate SIFT features Feature bank Obtain SIFT correspondences + remove outliers (RANSAC) Solve planar Homography: H=(R+(1/d)*TN T ) Disambiguate R,T,N solutions with knowledge of T i and N i Min ||N est -R est T N f || Use marker with most match points R rel, R i, T rel and T i calculate pose and position relative to inertial frame Get Euler or fixed axis angles Tag target with known planar markers

Results: SIFT Matching Still frame example/ ~45 degree perspective limitation Scale invariance

Simple Translation + Rotation X-Y Planar Motion Z Depth Motion Z-axis Rotation X-axis Rotation

More Complex Motion Y-axis 90+ deg Rotation with Multiple Markers Free Hovering Motion