Name
Title | ||
|---|---|---|
Improving Vision-Based Planar Motion Estimation For Unmanned Aerial Vehicles Through Online Mosaicing |
Abstract | ||
|---|---|---|
The paper presents a vision-based position estimation method for UAVs. It assumes a planar scene, approximation that usually holds when a vehicle is flying at a relatively high altitude. Monocular image sequences gathered by the UAV are used to estimate the vehicle motion, but accumulative errors can make diverge the estimated position. The proposed method uses an online-built mosaic to correct the drift associated to the planar motion estimation algorithm. The mosaic allows to use not only the current image but also previously recorded information for localization. Results from actual field experiments are presented. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1642135 | 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 |
Keywords | Field | DocType |
motion estimation,field experiment,remotely operated vehicles,image segmentation,high altitude,global positioning system,robot control,motion control,satellites,layout | Remotely operated underwater vehicle,Computer vision,Motion field,Vision based,Image segmentation,Planar,Artificial intelligence,Monocular image,Engineering,Motion estimation,Motion estimation algorithm | Conference |
ISSN | Citations | PageRank |
1050-4729 | 18 | 1.56 |
References | Authors | |
11 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Fernando Caballero | 1 | 610 | 45.38 |
| Luis Merino | 2 | 325 | 26.09 |
| Joaquin Ferruz | 3 | 168 | 10.75 |
| Aníbal Ollero | 4 | 1109 | 123.55 |