Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedDT1 Pegaso A Wednesday, October 10, 2012, 14:00–15:00
Omnidirectional Vision and Aerial Robotics I
Chair Friedrich Fraundorfer, ETH Zurich
Co-Chair Vincenzo Lippiello, Univ. di Napoli Federico II
14:00–14:15 WedDT1.1
Full Scaled 3D Visual Odometry from a Single
Wearable Omnidirectional Camera
Daniel Gutiérrez-Gómez, Luis Puig and J.J. Guerrero
Departamento de Informática e Ingeniería de Sistemas (DIIS) -
Instituto de Investigación en Ingeniería de Aragón (I3A),
Universidad de Zaragoza, Spain
• Monocular SLAM present an scale
ambiguity due to depth unobservability.
• In SLAM with a helmet-mounted
omnidirectional camera, head oscillations
during walking are visible.
• Extracting the frequency of oscillation, the
walking speed can be approximated.
• Knowing the walking speed, scale factor
and true scaled 3D motion estimation can
be computed.
Our approach is able to cope with
scale drift.
14:30–14:45 WedDT1.3
Topological segmentation of indoors/outdoors
Sequences of spherical views
Alexandre Chapoulie and Patrick Rives
INRIA Sophia Antipolis, France
David Filliat
ENSTA-ParisTech, France
• New approach for topological mapping of
indoors/outdoors environments.
• Online segmentation of sequences of
spherical views.
• Use of a global GIST descriptor for
encoding the spherical view content.
• Real-time change-point detection based
algorithm
• Experimental validation on indoors and
outdoors datasets
14:15–14:30 WedDT1.2
3-line RANSAC for Orthogonal Vanishing
Point Detection
Jean-Charles Bazin and Marc Pollefeys
Computer Vision and Geometry Laboratory
ETH Zurich, Switzerland
• Vanishing points (VPs) are useful for
rotation estimation, robot stabilization,
3D reconstruction, etc…
• Orthogonal VPs constitute an important
information but the orthogonality
constraint is hard to impose
• A new approach to generate a model of
orthogonal VPs from three lines
• Procedure incorporated in RANSAC for
robust and fast estimation
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–151–
Example of line clustering and
vanishing point estimation
14:45–15:00 WedDT1.4
Wall Inspection Control of a VTOL Unmanned
Aerial Vehicle Based on a Stereo Optical Flow
Vincenzo Lippiello and Bruno Siciliano
Dipartimento di Informatica e Sistemistica
Università di Napoli Federico II – Italy
• An autonomous wall inspection control,
which employs the information provided by
a stereo camera system to generate a
virtual stereo OF is proposed.
• A virtual spherical camera is considered at
the center of gravity of the UAV.
• An iterative algorithm is used to lead the
acquisition process of the stereo pair
generating both the stereo optical flow and
the estimation of the 3D planar surface
parameters (orientation and relative
distance).
• An average translational OF is employed
to estimate the absolute vehicle velocity.
Virtual spherical camera (top)
and Stereo optical flow