High Altitude Stereo Visual Odometry

Warren, Michael; Upcroft, Ben

doi:10.15607/rss.2013.ix.003

Cited by 16 publications

(6 citation statements)

References 28 publications

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“…For the high altitude problem, we choose a monocular vision odometer to assist INS rather than the binocular camera, since the binocular camera reduces to a monocular camera when vehicles fly at high altitude as a result of the extremely small baseline-todepth ratio [34]. If there is no additional information, scale ambiguity of a monocular camera can not be cleared up generally.…”

Section: Related Workmentioning

confidence: 99%

A Visual-inertial Navigation Method for High-Speed Unmanned Aerial Vehicles

Luo,

Lv,

Sun

2020

Preprint

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This paper investigates the localization problem of high-speed high-altitude unmanned aerial vehicle (UAV) with a monocular camera and inertial navigation system. And it proposes a navigation method utilizing the complementarity of vision and inertial devices to overcome the singularity which arises from the horizontal flight of UAV. Furthermore, it modifies the mathematical model of localization problem via separating linear parts from nonlinear parts and replaces a nonlinear least-squares problem with a linearly equality-constrained optimization problem. In order to avoid the illcondition property near the optimal point of sequential unconstrained minimization techniques (penalty methods), it constructs a semi-implicit continuous method with a trust-region technique based on a differential-algebraic dynamical system to solve the linearly equality-constrained optimization problem. It also analyzes the global convergence property of the semi-implicit continuous method in an infinity integrated interval other than the traditional convergence analysis of numerical methods for ordinary differential equations in a finite integrated interval. Finally, the promising numerical results are also presented.

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Section: Related Workmentioning

confidence: 99%

A Visual-inertial Navigation Method for High-Speed Unmanned Aerial Vehicles

Luo,

Lv,

Sun

2020

Preprint

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“…Stereo self-calibration without any known patterns or markers has attracted interests in recent years [3], [4], [5], [6], [7], and is still an active research area because of the massive demands from different vision-based applications. Multiple geometric constraints, including the epipolar constraint, trilinear constraint, and bundle adjustment, are discussed and combined into a unified framework in [5].…”

Section: Related Workmentioning

confidence: 99%

“…To accelerate the speed of bundle adjustment optimization, [3] presents a form of variable partition that reduces computation. [6] relaxes the stereo transform during bundle adjustment by introducing a log barrier cost function. However, we stress that the observability property of [6] is controversial since visiononly algorithms are not able to capture the real-world scale if the baseline length is not fixed.…”

Section: Related Workmentioning

confidence: 99%

High-precision online markerless stereo extrinsic calibration

Ling

Shen

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Stereo cameras and dense stereo matching algorithms are core components for many robotic applications due to their abilities to directly obtain dense depth measurements and their robustness against changes in lighting conditions. However, the performance of dense depth estimation relies heavily on accurate stereo extrinsic calibration. In this work, we present a real-time markerless approach for obtaining high-precision stereo extrinsic calibration using a novel 5-DOF (degrees-of-freedom) and nonlinear optimization on a manifold, which captures the observability property of vision-only stereo calibration. Our method minimizes epipolar errors between spatial per-frame sparse natural features. It does not require temporal feature correspondences, making it not only invariant to dynamic scenes and illumination changes, but also able to run significantly faster than standard bundle adjustment-based approaches. We introduce a principled method to determine if the calibration converges to the required level of accuracy, and show through online experiments that our approach achieves a level of accuracy that is comparable to offline markerbased calibration methods. Our method refines stereo extrinsic to the accuracy that is sufficient for block matching-based dense disparity computation. It provides a cost-effective way to improve the reliability of stereo vision systems for long-term autonomy.

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“…Additionally, degeneracies occur when looking at planar structure, an oft-encountered scenario when using vision from high altitude. However, VO has been successfully applied in airborne applications [19,18,17] by taking into account many of these factors.…”

Section: Related Workmentioning

confidence: 99%

Enabling Aircraft Emergency Landings Using Active Visual Site Detection

Warren

Mejias

Yang

et al. 2015

Springer Tracts in Advanced Robotics

Self Cite

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Abstract. The ability to automate forced landings in an emergency such as engine failure is an essential ability to improve the safety of Unmanned Aerial Vehicles operating in General Aviation airspace. By using active vision to detect safe landing zones below the aircraft, the reliability and safety of such systems is vastly improved by gathering up-to-the-minute information about the ground environment. This paper presents the Site Detection System, a methodology utilising a downward facing camera to analyse the ground environment in both 2D and 3D, detect safe landing sites and characterise them according to size, shape, slope and nearby obstacles. A methodology is presented showing the fusion of landing site detection from 2D imagery with a coarse Digital Elevation Map and dense 3D reconstructions using INS-aided Structure-from-Motion to improve accuracy. Results are presented from an experimental flight showing the precision/recall of landing sites in comparison to a hand-classified ground truth, and improved performance with the integration of 3D analysis from visual Structure-from-Motion.

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High Altitude Stereo Visual Odometry

Cited by 16 publications

References 28 publications

A Visual-inertial Navigation Method for High-Speed Unmanned Aerial Vehicles

A Visual-inertial Navigation Method for High-Speed Unmanned Aerial Vehicles

High-precision online markerless stereo extrinsic calibration

Enabling Aircraft Emergency Landings Using Active Visual Site Detection

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