Title :
Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV)
Author :
Bülow, Heiko ; Birk, Andreas
Author_Institution :
Sch. of Eng. & Sci., Jacobs Univ., Bremen, Germany
Abstract :
A fast and robust method for visual odometry based on the Fourier-Mellin Invariant (FMI) descriptor is presented. It extends previous FMI based approaches in two ways. First, a logarithmic representation of the spectral magnitude of the FMI descriptor is used. Second, a filter on the frequency where the shift is supposed to appear is applied. It is shown with experiments with an Unmanned Aerial Vehicle that this improved Fourier-Mellin Invariant (iFMI) method is is indeed an advancement and well suited for online visual odometry to generate large photo maps.
Keywords :
Fourier transforms; cartography; distance measurement; image segmentation; remotely operated vehicles; Fourier-Mellin invariant descriptor; online visual odometry; photomapping; spectral magnitude logarithmic representation; unmanned aerial vehicle; Computer vision; Frequency; Intelligent robots; Karhunen-Loeve transforms; Matched filters; Motion estimation; Pixel; Robustness; USA Councils; Unmanned aerial vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354505
