EKF Based Attitude Estimation and Stabilization of a Quadrotor UAV Using Vanishing Points in Catadioptric Images.
Metin TarhanErdinç AltugPublished in: J. Intell. Robotic Syst. (2011)
Keyphrases
- vanishing points
- camera calibration
- camera self calibration
- parallel lines
- straight line
- single image
- perspective projection
- man made environments
- image analysis
- vanishing point detection
- image features
- object recognition
- single view
- focal length
- input image
- extended kalman filter
- three dimensional
- manhattan world
- feature matching
- multiple images
- omnidirectional images
- ground plane
- computer vision
- field of view
- line segments
- image registration
- invariant features
- perspective images
- region of interest
- multiscale
- image processing