Zürich Autonomous Systems Lab Rainer Voigt 28. September 2011.
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Zürich Autonomous Systems Lab Robust Embedded Egomotion Estimation with Application to Aerial Inspection Vehicles Rainer Voigt 28. September 2011 Name - Short Title
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Transcript of Zürich Autonomous Systems Lab Rainer Voigt 28. September 2011.
ZürichAutonomous Systems Lab
Robust Embedded Egomotion Estimation
with Application to Aerial Inspection Vehicles
Rainer Voigt
28. September 2011
Name - Short Title
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ZürichRainer Voigt – Robust Embedded Egomotion Estimation2
Inspection of e.g. Thermal Power Plants
Boilers up to 100 meters high Up to 1 Mio USD per day of
outage UAV for visual pre-inspection
Introduction | Motion Estimation | Results | Video
AIRobots Innovative Aerial Service for Remote Inspections by Contact
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ZürichRainer Voigt – Robust Embedded Egomotion Estimation3
Introduction | Motion Estimation | Results | Video
Motion Estimation
HDR, Global Shutter
CMOS Sensors
3x Gyroscopes3-Axis
AccelerometerHigh Power LEDs
Front-Looking Stereo-IMU Rig Motion Estimation with Sparse Features Tight Coupling of Visual and Inertial Cues for
Feature Disambiguation on repetitive Texture
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Zürich4
Extract key points Compute descriptors Associate features of
left and right image Triangulate features to
obtain 3D points
Introduction | Motion Estimation | Results | Video
Rainer Voigt – Robust Embedded Egomotion Estimation
Visual Egomotion
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Zürich5
Extract key points Compute descriptors Associate features of
left and right image Triangulate features to
obtain 3D points
Introduction | Motion Estimation | Results | Video
Rainer Voigt – Robust Embedded Egomotion Estimation
Visual Egomotion
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Capture next stereo shot Compute key points,
descriptors and 3D points Predict feature locations
via IMU motion constraints Associate features between
both stereo pairs RANSAC outlier rejection Refinement via
bundle adjustment
Introduction | Motion Estimation | Results | Video
Rainer Voigt – Robust Embedded Egomotion Estimation
Visual Egomotion
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ZürichRainer Voigt – Robust Embedded Egomotion Estimation7
Introduction | Motion Estimation | Results | Video
Results
Robust real-time motion estimation on single core Intel Atom CPU
Vehicle stabilization
Introduction | Visual Egomotion | Vision Covariance | EKF | Feature Prediction | Results | Outlook
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