SAR Pose Estimation with Circular-N-Point: A Two-Step Method

This paper proposes a fast two-step method which aims to address the SAR pose estimation problem and enable Unmanned Aerial Vehicles (UAVs) the self-localization capability under harsh conditions. Firstly, the monocular SAR pose estimation is formulated as a Circular-n-Point (CnP) problem based on frequency-domain SAR imaging mechanism. Then, we propose to decouple the motion components of radar platform and solve the overdetermined equations of direction and location sequentially. Experimental results validate the effectiveness, accuracy, and efficiency of the proposed method.