Analytic algorithm of position and orientation estimation for unmanned helicopter's landing

An analytic position and orientation estimation algorithm based on monocular vision and single image frame is proposed. A landing target graph with one main square is designed to generate the information needed for the parameters estimation. Based on the theory of perspective projection, the pinhole model of camera and the constraints of vertical relationship between the adjacent sides, the analytic functions of the position and orientation parameters are deduced with the object coordinates of the square's 4 corner points and their corresponding image coordinates. as inputs, The lab lest based on real image verified the algorithm's validity.