Paper
19 October 2022 Research on visual odometry based on large-scale aerial images taken by UAV
Author Affiliations +
Proceedings Volume 12294, 7th International Symposium on Advances in Electrical, Electronics, and Computer Engineering; 1229440 (2022) https://doi.org/10.1117/12.2639907
Event: 7th International Symposium on Advances in Electrical, Electronics and Computer Engineering (ISAEECE 2022), 2022, Xishuangbanna, China
Abstract
In the actual operation scenario, we usually want to measure the trajectory of the UAV performing the task. This can be achieved by many different means. For example, we can obtain the motion state estimation of UAV by obtaining sensor information such as GPS, RTK and IMU. Alternatively, the velocity and acceleration of the UAV can be measured and its displacement can be calculated by integration. The device (including hardware and algorithm) to complete this motion estimation is called odometry. Considering the efficiency and cost, we hope to complete the devise of odometry visually. The target of visual odometry (VO) is to estimate the motion of the camera according to the captured image. This paper presents a method based on feature extraction and incremental pose estimation, which can accurately calculate motion state of UAVs through aerial images taken by its own.
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Shuijie Wang, Yu Su, Yuhe Qiu, Jian Zhou, and Qianqian Cheng "Research on visual odometry based on large-scale aerial images taken by UAV", Proc. SPIE 12294, 7th International Symposium on Advances in Electrical, Electronics, and Computer Engineering, 1229440 (19 October 2022); https://doi.org/10.1117/12.2639907
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KEYWORDS
Unmanned aerial vehicles

Motion estimation

Cameras

Visualization

Feature extraction

Global Positioning System

Calibration

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