Distortion-resistant spherical visual odometry for UAV-based bridge inspection

Sarthak Pathak; Alessandro Moro; Hiromitsu Fujii; Atsushi Yamashita; Hajime Asama

doi:10.1117/12.2520206

22 March 2019 Distortion-resistant spherical visual odometry for UAV-based bridge inspection

Sarthak Pathak, Alessandro Moro, Hiromitsu Fujii, Atsushi Yamashita, Hajime Asama

Proceedings Volume 11049, International Workshop on Advanced Image Technology (IWAIT) 2019; 110491O (2019) https://doi.org/10.1117/12.2520206
Event: 2019 Joint International Workshop on Advanced Image Technology (IWAIT) and International Forum on Medical Imaging in Asia (IFMIA), 2019, Singapore, Singapore

Abstract

In this research, we propose a novel distortion-resistant visual odometry technique using a spherical camera, in order to provide localization for a UAV-based, bridge inspection support system. We take into account the distortion of the pixels during the calculation of the 2-frame essential matrix via feature-point correspondences. Then, we triangulate 3D points and use them for 3D registration of further frames in the sequence via a modified spherical error function. Via experiments conducted on a real bridge pillar, we demonstrate that the proposed approach greatly increases the accuracy of localization, resulting in an 8.6 times lower localization error.

Citation Download Citation

Sarthak Pathak, Alessandro Moro, Hiromitsu Fujii, Atsushi Yamashita, and Hajime Asama "Distortion-resistant spherical visual odometry for UAV-based bridge inspection", Proc. SPIE 11049, International Workshop on Advanced Image Technology (IWAIT) 2019, 110491O (22 March 2019); https://doi.org/10.1117/12.2520206

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