We propose a method for 3D-structure extraction from the image data of a flying platform equipped with an IR-camera.
Due to the large distance of the camera to the target, trajectories with limited perspective variation and low resolution
cameras the task is challenging. Our method is based on the extraction and tracking of line segments together with
junction points of line segments. These tracks are afterwards used for 3D-reconstruction. In a second step knowledge
about typical properties of man made objects is incorporated in the reconstruction results to generate intrinsically
This presentation describes the principle mechanisms how to compute position and attitude of an imaging sensor from a 3D landmark. A mission planning process provides data for the flightpath and appropriate descriptions of landmarks along the flightpath. The processing schemes as well as design considerations for a real time implementation are discussed. The processing consists of three levels. The image processing part extracts edge information from the image of a scene. The pattern recognition part solves the correspondence problem between the edges of the scene and a 3D wire model of the landmark by a relaxation matching operation. Photogrammetric methods finally are used in the pose estimation part. Nonlinear numerical optimization techniques are used to compute position and attitude of the sensor respectively the aerial vehicle.
Based on the development of an IR seeker in 1992 and its extensive captive flight testing, the seeker of the trilateral (Germany, France, Italy) Polyphem missile was developed and tested in captive and free flights. It is based on a 640 X 486 element FPA and a cardanic stabilization and pointing system with an on-gimbal rate gyro. The digitized output of the FPA is sent to the ground via an optical fiber where it is observed by the operator and processed for cueing of targets and tracking for the final approach. After general seeker design considerations its design and performance and an in- flight video of a live firing will be presented. On the basis of the prior development of an IR seeker module set consisting of a 256 X 256 element InSb FPA and its electronics, the seeker for the German KEPD350 missile has been in development since 1997. Recently it has been qualified successfully and 25 of it will be delivered in 2001. Its mechanics consist of a miniaturized cardanic system which uses the data of the missile's Inertial Measurement Unit (IMU) for strap-down pointing and stabilization. Its image processor is designed for navigation during cruise and for tracking of the target in final approach. The seeker's features and performance will be presented.