Multi-plane Visual Odometry for Unmanned Aerial Vehicle Using a Thermal Camera.
Xu YanYingcai BiZhi GaoMingjie LaoRodney TeoFeng LinPublished in: ICCA (2018)
Keyphrases
- visual odometry
- unmanned aerial vehicles
- ego motion
- autonomous navigation
- inertial measurement unit
- long range
- camera pose
- field of view
- path planning
- kalman filtering
- dynamic environments
- position information
- depth images
- simultaneous localization and mapping
- ground plane
- mobile robot
- infrared
- real time
- single camera
- position and orientation
- three dimensional
- stereo camera
- camera motion
- structure from motion
- image sequences
- optical flow
- vision system
- pose estimation
- camera views
- range data
- robust estimation
- d scene
- multiple cameras
- camera calibration
- multiple views
- surveillance system
- depth information
- bundle adjustment
- single image
- camera parameters
- multi camera
- object recognition
- control algorithm