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Distortion-resistant spherical visual odometry for UAV-based bridge inspection
Author(s): Sarthak Pathak; Alessandro Moro; Hiromitsu Fujii; Atsushi Yamashita; Hajime Asama
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Paper Abstract

In this research, we propose a novel distortion-resistant visual odometry technique using a spherical camera, in order to provide localization for a UAV-based, bridge inspection support system. We take into account the distortion of the pixels during the calculation of the 2-frame essential matrix via feature-point correspondences. Then, we triangulate 3D points and use them for 3D registration of further frames in the sequence via a modified spherical error function. Via experiments conducted on a real bridge pillar, we demonstrate that the proposed approach greatly increases the accuracy of localization, resulting in an 8.6 times lower localization error.

Paper Details

Date Published: 22 March 2019
PDF: 6 pages
Proc. SPIE 11049, International Workshop on Advanced Image Technology (IWAIT) 2019, 110491O (22 March 2019); doi: 10.1117/12.2520206
Show Author Affiliations
Sarthak Pathak, The Univ. of Tokyo (Japan)
Alessandro Moro, The Univ. of Tokyo (Japan)
Hiromitsu Fujii, Chiba Institute of Technology (Japan)
Atsushi Yamashita, The Univ. of Tokyo (Japan)
Hajime Asama, The Univ. of Tokyo (Japan)


Published in SPIE Proceedings Vol. 11049:
International Workshop on Advanced Image Technology (IWAIT) 2019
Qian Kemao; Kazuya Hayase; Phooi Yee Lau; Wen-Nung Lie; Yung-Lyul Lee; Sanun Srisuk; Lu Yu, Editor(s)

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