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

Martínez Luna, Carol Viviana; Mejias Alvarez, Luis y Campoy Cervera, Pascual (2011). A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles. En: "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.

Descripción

Título: A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles
Autor/es:
  • Martínez Luna, Carol Viviana
  • Mejias Alvarez, Luis
  • Campoy Cervera, Pascual
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2011 International Conference on Digital Image Computing: Techniques and Applications
Fechas del Evento: 06/12/2011 - 08/12/2011
Lugar del Evento: Noosa, Queensland, Australia
Título del Libro: Proceedings of 2011 International Conference on Digital Image Computing: Techniques and Applications
Fecha: 2011
ISBN: 978-0-7695-4588-2
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Automática, Ingeniería Electrónica e Informática Industrial [hasta 2014]
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (867kB) | Vista Previa

Resumen

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.

Más información

ID de Registro: 13248
Identificador DC: http://oa.upm.es/13248/
Identificador OAI: oai:oa.upm.es:13248
URL Oficial: http://www.computer.org/csdl/proceedings/dicta/2011/4588/00/4588a542-abs.html
Depositado por: Memoria Investigacion
Depositado el: 28 Nov 2012 12:34
Ultima Modificación: 21 Abr 2016 12:33
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • e-ciencia
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM