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On Precisely Determining Self-Cast Shadow Regions in Aerial Camera Images

Gatter, Alexander and Andert, Franz (2018) On Precisely Determining Self-Cast Shadow Regions in Aerial Camera Images. In: 2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018. International Conference on Unmanned Aircraft Systems (ICUAS) 2018, 12.-15. Jun. 2018, Dallas, USA.

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Abstract

This paper addresses the occurrence of self-cast shadows in on-board images of aerial vehicles which are caused by the Sun. Due to the shadows nature of modifying the observed scenery within these images, self-cast shadow poses a not negligible problem to several computer vision applications like remote sensing, visual odometry, or tracking tasks. Therefore, a possibility is needed to reliably identify self-cast shadow regions and to exclude them from further processing tasks. The proposed model-based approach achieves this by using data that is accessible for most aerial vehicles (i.e. data provided by an Inertial Navigation System and a geometrical model of the shadow casting object). In this paper, the algorithm to detect self-cast shadows in on-board images is presented in detail, focusing on its potential impact on visual odometry. This algorithm is applied to flight test data which has been recorded by an unmanned helicopter that is operated by the German Aerospace Center. The performance of the algorithm is evaluated by comparing the test results to empirically determined ground truth data. The results show an accuracy of close to 100 % in terms of finding the correct area of the self-cast shadow and a high similarity between the shape of the real self-cast shadow and the estimated shadow.

Item URL in elib:https://elib.dlr.de/120485/
Document Type:Conference or Workshop Item (Speech)
Title:On Precisely Determining Self-Cast Shadow Regions in Aerial Camera Images
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Gatter, AlexanderAlexander.Gatter (at) dlr.deUNSPECIFIED
Andert, FranzFranz.Andert (at) dlr.deUNSPECIFIED
Date:June 2018
Journal or Publication Title:2018 International Conference on Unmanned Aircraft Systems, ICUAS 2018
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Computer Vision, Shadow Detection, Optical Navigation
Event Title:International Conference on Unmanned Aircraft Systems (ICUAS) 2018
Event Location:Dallas, USA
Event Type:international Conference
Event Dates:12.-15. Jun. 2018
Organizer:IEEE/ICUAS Association
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:rotorcraft
DLR - Research area:Aeronautics
DLR - Program:L RR - Rotorcraft Research
DLR - Research theme (Project):L - The Innovative Rotorcraft
Location: Berlin-Adlershof , Braunschweig
Institutes and Institutions:Institute of Flight Systems > Rotorcraft
Institute of Transportation Systems > Data Management and Knowledge Discovery
Deposited By: Gatter, Alexander
Deposited On:18 Jun 2018 14:34
Last Modified:18 Jun 2018 14:34

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