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On-board real-time pose estimation for UAVs using deformable visual contour registration
dc.contributor.author | Amor Martínez, Adrián |
dc.contributor.author | Ruiz, Alberto |
dc.contributor.author | Moreno-Noguer, Francesc |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2014-11-23T21:51:19Z |
dc.date.created | 2014 |
dc.date.issued | 2014 |
dc.identifier.citation | Amor, A. [et al.]. On-board real-time pose estimation for UAVs using deformable visual contour registration. A: IEEE International Conference on Robotics and Automation. "Proceedings of the ICRA 2014 IEEE International Conference on Robotics and Automation,". Hong Kong: 2014, p. 2595-2601. |
dc.identifier.uri | http://hdl.handle.net/2117/24810 |
dc.description.abstract | We present a real time method for pose estimation of objects from an UAV, using visual marks placed on non planar surfaces. It is designed to overcome constraints in small aerial robots, such as slow CPUs, low resolution cameras and image deformations due to distortions introduced by the lens or by the viewpoint changes produced during the flight navigation. The method consists of shape registration from extracted contours in an image. Instead of working with dense image patches or corresponding image features, we optimize a geometric alignment cost computed directly from the raw polygonal representations of the observed regions using efficient clipping algorithms. Moreover, instead of doing 2D image processing operations, the optimization is performed in the polygon representation space, allowing real-time projective matching. Deformation modes are easily included in the optimization scheme, allowing an accurate registration of different markers attached to curved surfaces using a single deformable prototype. As a result, the method achieves accurate object pose estimation precision in real-time, which is very important for interactive UAV tasks, for example for short distance surveillance or bar assembly. We describe the main algorithmic components of the method and present experiments where our method yields an average error of less than 5mm in position at a distance of 0.7m, using a visual mark of 19mm x 19mm. Finally, we compare these results with current computer vision state-of-the-art systems. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Automàtica i control |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
dc.subject.lcsh | Robot vision |
dc.subject.other | computer vision |
dc.subject.other | 3D pose estimation |
dc.subject.other | unmanned autonomous vehicles |
dc.title | On-board real-time pose estimation for UAVs using deformable visual contour registration |
dc.type | Conference report |
dc.subject.lemac | Visió artificial (Robòtica) |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/ICRA.2014.6907231 |
dc.description.peerreviewed | Peer Reviewed |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 15282441 |
dc.description.version | Postprint (published version) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS |
dc.date.lift | 10000-01-01 |
local.citation.author | Amor, A.; Ruiz, A.; Moreno-Noguer, F.; Sanfeliu, A. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | Hong Kong |
local.citation.publicationName | Proceedings of the ICRA 2014 IEEE International Conference on Robotics and Automation, |
local.citation.startingPage | 2595 |
local.citation.endingPage | 2601 |