EpiDepth: a real-time monocular dense-depth estimation pipeline using generic image rectification

Raub Camaioni; Robert H. Luke III; Andrew Buck; Derek T. Anderson

doi:10.1117/12.2618984

27 May 2022 EpiDepth: a real-time monocular dense-depth estimation pipeline using generic image rectification

Raub Camaioni, Robert H. Luke III, Andrew Buck, Derek T. Anderson

Proceedings Volume 12099, Geospatial Informatics XII; 120990C (2022) https://doi.org/10.1117/12.2618984
Event: SPIE Defense + Commercial Sensing, 2022, Orlando, Florida, United States

Abstract

Because of weight, power, and cost constraints, most unmanned aircraft systems (UAS) contain monocular camera systems. Real-time structure from motion (SfM) algorithms are required for monocular UAS systems to sense and autonomously navigate 3D environments. The SfM algorithm must be designed to work near real-time and handle the wide variety of possible extrinsic parameters produced by UAS image pairs. Common rigid epipolar rectification techniques (homography-based rectification) do not accurately model epipolar geometries with epipoles close to or contained within the image bounds. Common UAS movement types, translation along lens axis, tight radial turns, circular patterns with GPS locked camera focus, can all produce epipolar geometries with epipoles inside the camera frame. Using a generalized epipolar rectification technique, all extrinsic UAS movement types can be handled, and optimized image block matching techniques can be used to produce disparity/depth maps. The majority of UASs contain GPS/IMU/magnetometer modules. These modules provide absolute camera extrinsic parameters for every image. The essential and fundamental matrices between image pairs can be calculated from these absolute extrinsics. SfM is performed, depth images are produced, and the camera space pixel values can be projected as point clouds in three-dimensional space. These point clouds provide scene understanding that can be used for autonomous reasoning systems.

Conference Presentation

Citation Download Citation

Raub Camaioni, Robert H. Luke III, Andrew Buck, and Derek T. Anderson "EpiDepth: a real-time monocular dense-depth estimation pipeline using generic image rectification", Proc. SPIE 12099, Geospatial Informatics XII, 120990C (27 May 2022); https://doi.org/10.1117/12.2618984

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available