Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
- TAGS
- pegaso
- october
- lirmm
- www2.lirmm.fr
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
<strong>Session</strong> WedDT1 <strong>Pegaso</strong> A <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 14:00–15:00<br />
Omnidirectional Vision and Aerial Robotics I<br />
Chair Friedrich Fraundorfer, ETH Zurich<br />
Co-Chair Vincenzo Lippiello, Univ. di Napoli Federico II<br />
14:00–14:15 WedDT1.1<br />
Full Scaled 3D Visual Odometry from a Single<br />
Wearable Omnidirectional Camera<br />
Daniel Gutiérrez-Gómez, Luis Puig and J.J. Guerrero<br />
Departamento de Informática e Ingeniería de Sistemas (DIIS) -<br />
Instituto de Investigación en Ingeniería de Aragón (I3A),<br />
Universidad de Zaragoza, Spain<br />
• Monocular SLAM present an scale<br />
ambiguity due to depth unobservability.<br />
• In SLAM with a helmet-mounted<br />
omnidirectional camera, head oscillations<br />
during walking are visible.<br />
• Extracting the frequency of oscillation, the<br />
walking speed can be approximated.<br />
• Knowing the walking speed, scale factor<br />
and true scaled 3D motion estimation can<br />
be computed.<br />
Our approach is able to cope with<br />
scale drift.<br />
14:30–14:45 WedDT1.3<br />
Topological segmentation of indoors/outdoors<br />
Sequences of spherical views<br />
Alexandre Chapoulie and Patrick Rives<br />
INRIA Sophia Antipolis, France<br />
David Filliat<br />
ENSTA-ParisTech, France<br />
• New approach for topological mapping of<br />
indoors/outdoors environments.<br />
• Online segmentation of sequences of<br />
spherical views.<br />
• Use of a global GIST descriptor for<br />
encoding the spherical view content.<br />
• Real-time change-point detection based<br />
algorithm<br />
• Experimental validation on indoors and<br />
outdoors datasets<br />
14:15–14:30 WedDT1.2<br />
3-line RANSAC for Orthogonal Vanishing<br />
Point Detection<br />
Jean-Charles Bazin and Marc Pollefeys<br />
Computer Vision and Geometry Laboratory<br />
ETH Zurich, Switzerland<br />
• Vanishing points (VPs) are useful for<br />
rotation estimation, robot stabilization,<br />
3D reconstruction, etc…<br />
• Orthogonal VPs constitute an important<br />
information but the orthogonality<br />
constraint is hard to impose<br />
• A new approach to generate a model of<br />
orthogonal VPs from three lines<br />
• Procedure incorporated in RANSAC for<br />
robust and fast estimation<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–151–<br />
Example of line clustering and<br />
vanishing point estimation<br />
14:45–15:00 WedDT1.4<br />
Wall Inspection Control of a VTOL Unmanned<br />
Aerial Vehicle Based on a Stereo Optical Flow<br />
Vincenzo Lippiello and Bruno Siciliano<br />
Dipartimento di Informatica e Sistemistica<br />
Università di Napoli Federico II – Italy<br />
• An autonomous wall inspection control,<br />
which employs the information provided by<br />
a stereo camera system to generate a<br />
virtual stereo OF is proposed.<br />
• A virtual spherical camera is considered at<br />
the center of gravity of the UAV.<br />
• An iterative algorithm is used to lead the<br />
acquisition process of the stereo pair<br />
generating both the stereo optical flow and<br />
the estimation of the 3D planar surface<br />
parameters (orientation and relative<br />
distance).<br />
• An average translational OF is employed<br />
to estimate the absolute vehicle velocity.<br />
Virtual spherical camera (top)<br />
and Stereo optical flow