A bearing-angle approach for unknown target motion analysis based on visual measurements

This is the source code for our IJRR paper "A bearing-angle approach for unknown target motion analysis based on visual measurements". This file contains five numerical simulation experiments conresponding to Fig. 4 and Fig. 5 in the paper.

Illustration of bearing and angle measurements

An observer MAV observes a target MAV with a monocular camera. The bearing g and angle θ can be obtained from the bounding box that surrounds the target in the image.

Running Experiments

Simply run the 'main.m' script using Matlab 2021a.

• The source code has been tested with MATLAB 2021a.
• Each folder corresponds to one numerical simulation experiments.
• The folder's name indicates which experiment it corresponds to.

Notice

• The simulation results may vary slightly between each run due to the random collection of measurement noises.
• The .mat files in "Fig5a_square_circular" and "Fig5b_square_straight" are the original data used in the paper.
• If you wish to reproduce the exact curves presented in the paper, please modify the variable of mat file name in the 'plot_my.m' script. For example:

Citing

If you find our work useful, please consider citing:

@Article{Ning2024bearingAngle,
  author    = {Zian Ning and Yin Zhang and Jianan Li and Zhang Chen and Shiyu Zhao},
  journal   = {The International Journal of Robotics Research},
  title     = {A bearing-angle approach for unknown target motion analysis based on visual measurements},
  year      = {2024},
  month     = feb,
  pages     = {1-20},
  doi       = {10.1177/02783649241229172},
  publisher = {SAGE Publications},
}