Article Figures & Data
Figures
- FIGURE 1
Stereo vision pipeline for automated aerial refueling (AAR)
- ALGORITHM 1
Kalman Filter-Based ICP Covariance Estimation
- FIGURE 2
An example n vector from the point-to-point method
- FIGURE 3
An example point-to-point scenario that generates a normal vector with significant error
- FIGURE 4
A simplified illustration of the point-to-plane approach for computing n
- FIGURE 5
Point-to-plane when the sensed point is beyond the end of the reference points
- FIGURE 6
Results of Jacobian Method on a 1×2×3 box
- FIGURE 7
Results of point-to-point method on a 1×2×3 box
- FIGURE 8
Results of point-to-plane method on a 1×2×3 box
- FIGURE 9
RMSLE plot on a 1×2×3 box
- FIGURE 10
The ICP algorithm performed on simulated receiver aircraft
- FIGURE 11
RMSLE across various distances and lighting conditions in full AAR simulation
- FIGURE 12
Translational comparison for Prakhya vs our method on a 1×2×3 box
- FIGURE 13
Rotational comparison for Prakhya vs our method on a 1×2×3 box
- FIGURE 14
Speed comparison for Prakhya vs our method on a 1×2×3 box
- FIGURE 15
Original image vs degraded image
- FIGURE 16
Comparative results when sensor has degraded
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