Embedded System for Visual Odometry and Localization of Moving Objects in Images Acquired by Unmanned Aerial Vehicles

被引：5
|
作者：
Reboucas, Rodrigo Augusto [1 ]
Eller, Quenaz da Cruz [1 ]
Habermann, Mateus [1 ]
Shiguemori, Elcio Hideiti [1 ]
机构：
[1] Inst Adv Studies IEAv, Sao Jose Dos Campos, Brazil
来源：
2013 III BRAZILIAN SYMPOSIUM ON COMPUTING SYSTEMS ENGINEERING (SBESC 2013) | 2013年
关键词：
embedded system; Raspberry Pi; visual odometry; moving objects; UAV; ORB; RANSAC;
D O I：
10.1109/SBESC.2013.34
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper is presented the visual odometry and the localization of moving objects from aerial images embedded in an Unmanned Aerial Vehicle system with use of the Raspberry Pi and an IP camera. The techniques used 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.
引用
收藏
页码：35 / 40
页数：6
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