A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles

Martínez Luna, Carol Viviana and Mejias Alvarez, Luis and Campoy Cervera, Pascual (2011). A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles. In: "2011 International Conference on Digital Image Computing: Techniques and Applications", 06/12/2011 - 08/12/2011, Noosa, Queensland, Australia. ISBN 978-0-7695-4588-2. pp. 542-548.

Description

Title: A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles
Author/s:
  • Martínez Luna, Carol Viviana
  • Mejias Alvarez, Luis
  • Campoy Cervera, Pascual
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2011 International Conference on Digital Image Computing: Techniques and Applications
Event Dates: 06/12/2011 - 08/12/2011
Event Location: Noosa, Queensland, Australia
Title of Book: Proceedings of 2011 International Conference on Digital Image Computing: Techniques and Applications
Date: 2011
ISBN: 978-0-7695-4588-2
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (867kB) | Preview

Abstract

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 majority 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 configuration, 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.

More information

Item ID: 13248
DC Identifier: http://oa.upm.es/13248/
OAI Identifier: oai:oa.upm.es:13248
Official URL: http://www.computer.org/csdl/proceedings/dicta/2011/4588/00/4588a542-abs.html
Deposited by: Memoria Investigacion
Deposited on: 28 Nov 2012 12:34
Last Modified: 21 Apr 2016 12:33
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM