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Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV)

Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV),10.1109/IROS.2009.5354505,Heiko Bulow,Andreas Birk

Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV)   (Citations: 6)
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A fast and robust method for visual odometry based on the Fourier-Mellin Invariant (FMI) descriptor is presented. It extends previous FMI based approaches in two ways. First, a logarithmic representation of the spectral magnitude of the FMI descriptor is used. Second, a filter on the frequency where the shift is supposed to appear is applied. It is shown with experiments with an Unmanned Aerial Vehicle that this improved Fourier-Mellin Invariant (iFMI) method is is indeed an advancement and well suited for online visual odometry to generate large photo maps.
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    • ...In the following, an uncertainty analysis of the iFMI image registration algorithm [11], [12] developed at Jacobs University Bremen is presented...
    • ...The iFMI registration algorithm [11], [12] uses a Phase-...

    Max Pfingsthornet al. Maximum likelihood mapping with spectral image registration

    • ...In (13), where we introduced the general idea of brokenness, a map merging algorithm introduced in (32) was used for the steps in lines 5 to 7 of algorithm 1. This map merging algorithm builds upon a (dis)similarity measure of 2D raster data sets using Manhattan distances between nearest neighbors with the same cell property (34) combined with an Adaptive Random Walk (35; 36; 37) to stochastically search the space of possible ...
    • ...It is shown in this paper how both the long computation time and the stochasticity can be remedied by using a di erent registration algorithm, namely the improved Fourier Mellin (iFMI) registration (38)...
    • ...A detailed description of iFMI can be found in (38)...

    Andreas Birk. Using recursive spectral registrations to determine brokenness as meas...

    • ...Here, not only local descriptors but the whole information within the images is used, which seems to be very beneficial in the context of photo mapping as described in more detail in [9]...
    • ...An analysis of the benefits of this improved FMI (iFMI) is provided in [9]...
    • ...A more detailed discussion of the approach can be found in [9]...

    Andreas Birket al. Reconnaissance and camp security missions with an Unmanned Aerial Vehi...

    • ...In our approach, not only local descriptors but the whole information within the images is used, which seems to be very beneficial in the context of photo mapping as described in more detail in [3]...
    • ...An analysis of the benefits of this improved FMI (iFMI) is provided in [3]...
    • ...The basis for the Improved Fourier Mellin Invariant (iFMI) registration [3, 4 ]u sed in this work is a Phase-Only Matched Filter (POMF)...
    • ...A more detailed discussion of the approach can be found in [3]...

    Andreas Birket al. Safety, Security, and Rescue Missions with an Unmanned Aerial Vehicle ...

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