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