liu.seSearch for publications in DiVA
Change search
ReferencesLink to record
Permanent link

Direct link
Updating Camera Location and Heading using a Sparse Displacement Field
Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.ORCID iD: 0000-0002-5698-5983
2000 (English)Report (Other academic)
Abstract [en]

This report describes the principles of an algorithm developed within the WITAS project. The goal of the WITAS project is to build an autonomous helicopter that can navigate autonomously, using differential GPS, GIS-data of the underlying terrain (elevation models and digital orthophotographs) and a video camera. Using differential GPS and other non-visual sensory equipment, the system is able to obtain crude estimates of its position and heading direction. These estimates can be refined by matching of camera-images and the on-board GIS-data. This refinement process, however is rather time consuming, and will thus only be made every once in a while. For real-time refinement of camera position and heading, the system will iteratively update the estimates using frame to frame correspondence only. In each frame a sparse set of image displacement estimates is calculated, and from these the perspective in the current image can be found. Using the calculated perspective and knowledge of the camera parameters, new values of camera position and heading can be obtained. The resultant camera position and heading can exhibit a slow drift if the original alignment was not perfect, and thus a corrective alignment with GIS-data should be performed once every minute or so.

Place, publisher, year, edition, pages
Linköping, Sweden: Linköping University, Department of Electrical Engineering , 2000. , 11 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2318
National Category
Engineering and Technology
URN: urn:nbn:se:liu:diva-53335ISRN: LiTH-ISY-R-2318OAI: diva2:288566
Available from: 2010-01-21 Created: 2010-01-20 Last updated: 2015-12-10Bibliographically approved

Open Access in DiVA

fulltext(2349 kB)167 downloads
File information
File name FULLTEXT01.pdfFile size 2349 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Forssen, Per-Erik
By organisation
Computer VisionThe Institute of Technology
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 167 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 254 hits
ReferencesLink to record
Permanent link

Direct link