Details
| Original language | English |
|---|---|
| Pages (from-to) | 93-98 |
| Number of pages | 6 |
| Journal | International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives |
| Volume | 40 |
| Issue number | 3W1 |
| Publication status | Published - 5 Mar 2014 |
| Event | European Calibration and Orientation Workshop, EuroCOW 2014 - Castelldefels, Spain Duration: 12 Feb 2014 → 14 Feb 2014 |
Abstract
Civil applications for small size unmanned aerial vehicles (UAV) have become quite important in recent years and so have accurate orientation and navigation of these devices in unknown terrain. In this work we focus on on-line compatible positioning in facade observation based on monocular low resolution still images acquired by a camera mounted on a UAV. Also, a 3D point cloud of the facade is generated. This allows further processing steps, e. g. navigation assistance, collision avoidance or the evaluation of the point cloud density, verifying completeness of the data. To be able to deal with the increasing amount of observations and unknown parameters we implement an incremental bundle adjustment based on automatically determined tie points and sliding image triplets. The tripletwise orientation allows for an efficient double cross-check of the detected feature points and hence guarantees reliable initial values for the nonlinear bundle adjustment. The initial values are estimated within a convex formulation delivering a sound basis for the incremental adjustment. Our algorithm is evaluated by means of imagery we took of the facade of the Welfenschloss in Hannover, captured from a manually flown Microdrones md4-200 micro-UAV. We compare the orientation results of our approach with an approach in which initial values for the unknown object coordinates are computed algebraically.
Keywords
- Convex optimisation, Incremental bundle adjustment, Orientation, UAV
ASJC Scopus subject areas
- Computer Science(all)
- Information Systems
- Social Sciences(all)
- Geography, Planning and Development
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In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives, Vol. 40, No. 3W1, 05.03.2014, p. 93-98.
Research output: Contribution to journal › Conference article › Research › peer review
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TY - JOUR
T1 - A new approach for an incremental orientation of micro-UAV image sequences
AU - Reich, M.
AU - Unger, J.
AU - Rottensteiner, F.
AU - Heipke, C.
PY - 2014/3/5
Y1 - 2014/3/5
N2 - Civil applications for small size unmanned aerial vehicles (UAV) have become quite important in recent years and so have accurate orientation and navigation of these devices in unknown terrain. In this work we focus on on-line compatible positioning in facade observation based on monocular low resolution still images acquired by a camera mounted on a UAV. Also, a 3D point cloud of the facade is generated. This allows further processing steps, e. g. navigation assistance, collision avoidance or the evaluation of the point cloud density, verifying completeness of the data. To be able to deal with the increasing amount of observations and unknown parameters we implement an incremental bundle adjustment based on automatically determined tie points and sliding image triplets. The tripletwise orientation allows for an efficient double cross-check of the detected feature points and hence guarantees reliable initial values for the nonlinear bundle adjustment. The initial values are estimated within a convex formulation delivering a sound basis for the incremental adjustment. Our algorithm is evaluated by means of imagery we took of the facade of the Welfenschloss in Hannover, captured from a manually flown Microdrones md4-200 micro-UAV. We compare the orientation results of our approach with an approach in which initial values for the unknown object coordinates are computed algebraically.
AB - Civil applications for small size unmanned aerial vehicles (UAV) have become quite important in recent years and so have accurate orientation and navigation of these devices in unknown terrain. In this work we focus on on-line compatible positioning in facade observation based on monocular low resolution still images acquired by a camera mounted on a UAV. Also, a 3D point cloud of the facade is generated. This allows further processing steps, e. g. navigation assistance, collision avoidance or the evaluation of the point cloud density, verifying completeness of the data. To be able to deal with the increasing amount of observations and unknown parameters we implement an incremental bundle adjustment based on automatically determined tie points and sliding image triplets. The tripletwise orientation allows for an efficient double cross-check of the detected feature points and hence guarantees reliable initial values for the nonlinear bundle adjustment. The initial values are estimated within a convex formulation delivering a sound basis for the incremental adjustment. Our algorithm is evaluated by means of imagery we took of the facade of the Welfenschloss in Hannover, captured from a manually flown Microdrones md4-200 micro-UAV. We compare the orientation results of our approach with an approach in which initial values for the unknown object coordinates are computed algebraically.
KW - Convex optimisation
KW - Incremental bundle adjustment
KW - Orientation
KW - UAV
UR - http://www.scopus.com/inward/record.url?scp=84924167035&partnerID=8YFLogxK
U2 - 10.5194/isprsarchives-XL-3-W1-93-2014
DO - 10.5194/isprsarchives-XL-3-W1-93-2014
M3 - Conference article
AN - SCOPUS:84924167035
VL - 40
SP - 93
EP - 98
JO - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
JF - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives
SN - 1682-1750
IS - 3W1
T2 - European Calibration and Orientation Workshop, EuroCOW 2014
Y2 - 12 February 2014 through 14 February 2014
ER -