Visual Odometry and Moving Objects Localization Using ORB and RANSAC in Aerial Images Acquired by Unmanned Aerial Vehicles

Author

Reboucas, Rodrigo Augusto ; da Cruz Eller, Quenaz ; Habermann, Mateus ; Hideiti Shiguemori, Elcio

Author_Institution

Inst. for Adv. Studies- IEAv, Sáo José dos Campos, Brazil

fYear

2013

fDate

8-11 Sept. 2013

Firstpage

441

Lastpage

446

Abstract

In this paper the visual odometry and the localization of moving objects from aerial images are addressed. The techniques used in this work are the Oriented FAST and Rotated BRIEF (ORB) descriptor to detect and extract the interest points and the Random Sample Consensus (RANSAC) method to estimate the parameters from a matched points matrix for finding the camera translation. The visual odometry and morphological operations to point out moving objects have been performed.

Keywords

autonomous aerial vehicles; feature extraction; image motion analysis; object tracking; random processes; robot vision; ORB descriptor; RANSAC method; aerial image; camera translation; matched points matrix; morphological operation; moving object localization; oriented fast and rotated brief descriptor; random sample consensus; unmanned aerial vehicle; visual odometry; Cameras; Computational intelligence; Morphological operations; Object recognition; Transforms; Vehicles; Visualization; ORB; RANSAC; UAV; moving objects; visual odometry;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence and 11th Brazilian Congress on Computational Intelligence (BRICS-CCI & CBIC), 2013 BRICS Congress on

Conference_Location

Ipojuca

Type

conf

DOI

10.1109/BRICS-CCI-CBIC.2013.79

Filename

6855888