Paper Info
Title
Multi-Plane Visual Odometry For Unmanned Aerial Vehicle Using A Thermal Camera
Abstract
In this paper, a multi-plane infrared visual odometry (VO) algorithm is proposed for the navigation system of unmanned aerial vehicles (UAV) flying at a medium height for both day and night. It uses a monocular downward-looking and stabilized thermal camera, aided by a single laser beam to restore scale factor. The scale recovery is further improved by a series of comprehensive logics of taking different measurements into a multi-plane homography decomposition process, which makes the algorithm practicable and robust for the platform flying over various complex terrains with multiple planar surfaces. With the help of some sophisticated techniques, like keyframe replacement and subregion adaptive KLT tracker, the performance of motion estimation is further improved. This visual odometry algorithm allows UAV platforms to take various missions from a medium altitude when GPS is not available and illumination condition is poor.
Year
Venue
Field
2018
2018 IEEE 14TH INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION (ICCA)
Scale factor,Computer vision,Visual odometry,Navigation system,Terrain,Control engineering,Homography,Global Positioning System,Artificial intelligence,Motion estimation,Engineering,Monocular
DocType
ISSN
Citations 
Conference
1948-3449
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Xu Yan153.55
Yingcai Bi252.49
Zhi Gao33310.15
Mingjie Lao441.79
Rodney Teo521615.80
Feng Lin611817.27