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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.
Title: | A Multiresolution Image Alignment Technique Based on Direct Methods for Pose Estimation of Aerial Vehicles |
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Author/s: |
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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 |
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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.
Item ID: | 13248 |
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DC Identifier: | https://oa.upm.es/13248/ |
OAI Identifier: | oai:oa.upm.es:13248 |
Official URL: | http://www.computer.org/csdl/proceedings/dicta/201... |
Deposited by: | Memoria Investigacion |
Deposited on: | 28 Nov 2012 12:34 |
Last Modified: | 21 Apr 2016 12:33 |