Reference : Visual odometry based absolute target geo-location from micro aerial vehicle
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/24653
Visual odometry based absolute target geo-location from micro aerial vehicle
English
Annaiyan, Arun mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Yadav, Mahadeeswara []
Olivares Mendez, Miguel Angel mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger mailto [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
20-Feb-2015
International Conference on Robotics, Automation, Control and Embedded Systems (RACE), 2015
IEEE
1-7
Yes
Yes
International
International Conference on Robotics, Automation, Control and Embedded Systems (RACE), 2015
18-02-2015 to 20-02-2015
School of Mechanical Sciences, School of Aeronautical Sciences and Department of Electronics and Instrumentation Engineering.Hindustan Institute of Technology
Chennai
India
[en] distance measurement;feature extraction;geographic information systems;geophysical image processing;image registration;least squares approximations;mathematics computing;remote sensing;Binary Robust Invariant Scalable Keypoints algorithm;MATLAB;aerial images;feature point detection;georeferenced images;image registration;least square optimization;microaerial vehicle;visual odometry based absolute target geolocation;Automation;Cameras;Feature extraction;Global Positioning System; ; Mathematical model;Three-dimensional displays;Visualization;BRISK;Geo-localization;Homography Estimation; ; Visual odometery;autonomous navigation
[en] An unmanned aerial system capable of finding world coordinates of a ground target is proposed here. The main focus here was to provide effective methodology to estimate ground target world coordinates using aerial images captured by the custom made micro aerial vehicle (MAV) as a part of visual odometery process on real time. The method proposed here for finding target's ground coordinates uses a monocular camera which is placed in MAV belly in forward looking/ Downward looking mode. The Binary Robust Invariant Scalable Key points (BRISK) algorithm was implemented for detecting feature points in the consecutive images. After robust feature point detection, efficiently performing Image Registration between the aerial images captured by MAV and with the Geo referenced images is the prime and core computing operation considered. Precise Image alignment is implemented by accurately estimating Homography matrix. In order to accurately estimate Homography matrix which consists of 9 parameters, this algorithm solves the problem in a Least Square Optimization way. Therefore, this framework can be integrated with visual odometery pipeline; this gives the advantage of reducing the computational burden on the hardware. The system can still perform the task of target geo-localization efficiently based on visual features and geo referenced reference images of the scene which makes this solution to be found as cost effective, easily implementable with robustness in the output. The hardware implementation of MAV along with this dedicated system which can do the proposed work to find the target coordinates is completed. The main application of this work is in search and rescue operations in real time scenario. The methodology was analyzed and executed in MATLAB before implementing real time on the developed platform. Finally, three case studies with different advantages derived from the proposed framework are represented.
Researchers
http://hdl.handle.net/10993/24653
10.1109/RACE.2015.7097264
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7097264&isnumber=7097224

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Arun_Annaiyan_RACE_2015.pdfhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7097264&isnumber=7097224Publisher postprint713.19 kBView/Open

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