Indoor Exploration Using a μUAV and a Spherical Geometry Based Visual System - Technological Innovation for the Internet of Things Access content directly
Conference Papers Year : 2013

Indoor Exploration Using a μUAV and a Spherical Geometry Based Visual System

Abstract

This research presents a new vision system that explores a spherical geometry and will be provide innovative solutions for tracking, surveillance, navigation and mapping with micro Unmanned Aerial Vehicle (μUAV) in unknown indoor environments. The system will be used with μUAV in indoor environment and it is composed by twenty six cameras that are arranged in order to sample different parts of the visual sphere around the μUAV. This configuration allows that some of the cameras will have overlapped field of view. This system has been designed for the purpose of recovering ego-motion and structure from multiple video images, having a distributed omnidirectional field of view. We use the spherical geometry to extend the field of view, from one single direction to a single point of perspective, but with multiple views. This manuscript will prove that spherical geometric configuration has advantages when compared to stereo cameras for the estimation of the system’s own motion and consequently the estimation of shape models from each camera. The preliminary field tests presented the theoretical potential of this system and the experimental results with the images acquired by 3 cameras.
Fichier principal
Vignette du fichier
978-3-642-37291-9_22_Chapter.pdf (4 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-01348755 , version 1 (25-07-2016)

Licence

Attribution

Identifiers

Cite

Tiago Caldeira, Lakmal Seneviratne, Jorge Dias. Indoor Exploration Using a μUAV and a Spherical Geometry Based Visual System. 4th Doctoral Conference on Computing, Electrical and Industrial Systems (DoCEIS), Apr 2013, Costa de Caparica, Portugal. pp.200-209, ⟨10.1007/978-3-642-37291-9_22⟩. ⟨hal-01348755⟩
55 View
84 Download

Altmetric

Share

Gmail Facebook X LinkedIn More