Burschka, Darius (2006) Robust Feature Correspondences for Vision-Based Navigation with Slow Frame-Rate Cameras. In: Proceedings, pp. 947-952. IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.
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Abstract
We propose a vision-based inertial system that overcomes the problems associated with slow update rates in navigation systems based on high-resolution cameras. Due to bandwidth limitations in current camera interfaces, like Firewire or USB, an increase in the camera resolution results in a drop of the effective frame-rate from the sensor. This increases the correspondence problem for point features in consecutive images due to significant motion of the features. We solve the correspondence problem for very significant motion of point features between consecutive images by analyzing the motion blur to estimate the current motion parameters. The proposed algorithm can be used to track the position of point features in video images originating from slow frame-rate cameras. The system is validated on real images from a camera moved by a mobile system, but it can be used for any type of motion ranging from flying systems to mobile robots operating in outdoor or indoor environments.
Item URL in elib: | https://elib.dlr.de/45668/ | ||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||
Title: | Robust Feature Correspondences for Vision-Based Navigation with Slow Frame-Rate Cameras. | ||||||
Authors: |
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Date: | 9 October 2006 | ||||||
Journal or Publication Title: | Proceedings | ||||||
Refereed publication: | Yes | ||||||
Open Access: | No | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
Page Range: | pp. 947-952 | ||||||
Publisher: | IEEE/RSJ International Conference on Intelligent Robots and Systems | ||||||
Status: | Published | ||||||
Keywords: | Vision-Based Navigation, Slow Frame-Rate Cameras | ||||||
Event Title: | IROS, RSJ International Conference on Intelligent Robots and Systems | ||||||
Event Location: | Beijing, China | ||||||
Event Type: | international Conference | ||||||
Event Dates: | 2006-10-09 - 2006-10-15 | ||||||
Organizer: | IEEE | ||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||
HGF - Program: | Space (old) | ||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||
DLR - Research area: | Space | ||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||
DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||
Location: | Oberpfaffenhofen | ||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||
Deposited By: | Beinhofer, Gabriele | ||||||
Deposited On: | 31 Aug 2007 | ||||||
Last Modified: | 27 Apr 2009 13:15 |
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