A visual odometer without 3D reconstruction for aerial vehicles. Applications to building inspection

被引：0

作者：

Caballero, F ^{[1
]}

Merino, L ^{[1
]}

Ferruz, J ^{[1
]}

Ollero, A ^{[1
]}

机构：

[1] Escuela Super Ingn, Dept Ingn Sistemas & Automat, Seville 41010, Spain

来源：

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年

关键词：

feature matching; homography; visual odometer; UAV; building inspection;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a vision-based method to estimate the *real motion of a single camera from views of a planar patch. Projective techniques allow to estimate camera motion from pixel space apparent motion without explicit 3-D reconstruction. In addition, the paper will present the HELINSPEC project, the framework where the proposed method has been tested, and will detail some applications in external building inspection that make use of the proposed techniques.

引用

页码：4673 / 4678

页数：6

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