An Investigation on the Use of Image Processing Algorithms for Parafoil-payload Guidance

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Shariatmadari, Mohammad Javad | 2015

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 49837 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Saghafi, Fariborz
Abstract:
The goal of this thesis is to carry out an investigation on appropriate image processing algorithms suitable for the use in parafoil-payload guidance as low-cost methods. The image-based navigation algorithms are first classified, and then methods of parafoil guidance are proposed. A mathematical model of camera is presented in order to show the relationship between 2D image and 3D real world for image simulation in the loop. The featurs point selection and tracking as the first step of image-based navigation has been examined in this study. Feature points tracking has been done in two way, based on optical flow and template matching methods. Based on the result obtained after implementation, the optical flow has better result in terms of accuracy and computational cost than template matching to detect and tracking of feature points. The parafoil position in horizontal plane has been calculated by methods so-called “flat earth” and PNP. Based on the results obtained, the strengths and weakness of each method have been discussed in the result section
Keywords:
Template Matching ; Optical Flow ; Parafoil-Payload System ; Image Processing ; Image-Based Navigation ; Perspective-N-Point (PNP) ; Camera Mathematical Model

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