Memorias de investigación
Ponencias en congresos:
A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles
Año:2011
Áreas de investigación
  • Robots aéreos
Datos
Descripción
In this paper, we seek to expand the use of direct methods in real-time applications by proposing a vision-based strategy for pose estimation of aerial vehicles. The vast ma- jority of approaches make use of features to estimate motion. Conversely, the strategy we propose is based on a MR (Multi- Resolution) implementation of an image registration technique (Inverse Compositional Image Alignment ICIA) using direct methods. An on-board camera in a downwards-looking configu- ration, and the assumption of planar scenes, are the bases of the algorithm. The motion between frames (rotation and translation) is recovered by decomposing the frame-to-frame homography obtained by the ICIA algorithm applied to a patch that covers around the 80% of the image. When the visual estimation is required (e.g. GPS drop-out), this motion is integrated with the previous known estimation of the vehicles? state, obtained from the on-board sensors (GPS/IMU), and the subsequent estimations are based only on the vision-based motion estimations. The proposed strategy is tested with real flight data in representative stages of a flight: cruise, landing, and take-off, being two of those stages considered critical: take-off and landing. The performance of the pose estimation strategy is analyzed by comparing it with the GPS/IMU estimations. Results show correlation between the visual estimation obtained with the MR-ICIA and the GPS/IMU data, that demonstrate that the visual estimation can be used to provide a good approximation of the vehicle?s state when it is required (e.g. GPS drop-outs). In terms of performance, the proposed strategy is able to maintain an estimation of the vehicle?s state for more than one minute, at real-time frame rates based, only on visual information.
Internacional
Si
Nombre congreso
DICTA 2011 Digital Image Computing: Techniques and Applications, sponsored by IEEE and IAPR
Tipo de participación
960
Lugar del congreso
Noosa, Queensland, Australia
Revisores
Si
ISBN o ISSN
978-0-7695-4588-2
DOI
http://doi.ieeecomputersociety.org/10.1109/DICTA.2
Fecha inicio congreso
06/12/2011
Fecha fin congreso
08/12/2011
Desde la página
542
Hasta la página
548
Título de las actas
2011 International Conference on Digital Image Computing: Techniques and Applications
Esta actividad pertenece a memorias de investigación
Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Computer Vision
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial