DC Field | Value | Language |
---|---|---|
dc.contributor.author | Bazin, J.-C. | ko |
dc.contributor.author | Kweon, In-So | ko |
dc.contributor.author | Demonceaux, C. | ko |
dc.contributor.author | Vasseur, P. | ko |
dc.date.accessioned | 2011-03-21T07:22:06Z | - |
dc.date.available | 2011-03-21T07:22:06Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2009-05-12 | - |
dc.identifier.citation | 2009 IEEE International Conference on Robotics and Automation, ICRA '09, pp.409 - 416 | - |
dc.identifier.uri | http://hdl.handle.net/10203/22844 | - |
dc.description.abstract | Unmanned Aerial Vehicles (UAV) are the subject of an increasing interest in many applications and a key requirement for autonomous navigation is the attitude/position stabilization of the vehicle. Some previous works have suggested using catadioptric vision, instead of traditional perspective cameras, in order to gather much more information from the environment and therefore improve the robustness of the UAV attitude/position estimation. This paper belongs to a series of recent publications of our research group concerning catadioptric vision for UAVs. Currently, we focus on the extraction of skyline in catadioptric images since it provides important information about the attitude/position of the UAV. For example, the DEM-based methods can match the extracted skyline with a Digital Elevation Map (DEM) by process of registration, which permits to estimate the attitude and the position of the camera. Like any standard cameras, catadioptric systems cannot work in low luminosity situations because they are based on visible light. To overcome this important limitation, in this paper, we propose using a catadioptric infrared camera and extending one of our methods of skyline detection towards catadioptric infrared images. The task of extracting the best skyline in images is usually converted in an energy minimization problem that can be solved by dynamic programming. The major contribution of this paper is the extension of dynamic programming for catadioptric images using an adapted neighborhood and an appropriate scanning direction. Finally, we present some experimental results to demonstrate the validity of our approach. | - |
dc.description.sponsorship | This work has been performed within (1) the STAR project of the Hubert Curien (Egide) partnership between RCV Lab at KAIST-Korea and MIS at UPJV-France and (2) the project “Monocular vision based natural feature extraction for cognitive model” funded by Korea Ministry of Knowledge Economy. | en |
dc.language | English | - |
dc.language.iso | en_US | en |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Dynamic programming and skyline extraction in catadioptric infrared images | - |
dc.type | Conference | - |
dc.identifier.wosid | 000276080400087 | - |
dc.identifier.scopusid | 2-s2.0-70350383494 | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 409 | - |
dc.citation.endingpage | 416 | - |
dc.citation.publicationname | 2009 IEEE International Conference on Robotics and Automation, ICRA '09 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | Kobe | - |
dc.identifier.doi | 10.1109/ROBOT.2009.5152262 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Kweon, In-So | - |
dc.contributor.nonIdAuthor | Bazin, J.-C. | - |
dc.contributor.nonIdAuthor | Demonceaux, C. | - |
dc.contributor.nonIdAuthor | Vasseur, P. | - |
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