Title:
Monocular Image Space Tracking on a Computationally Limited MAV
Monocular Image Space Tracking on a Computationally Limited MAV
| dc.contributor.author | Ok, Kyel | |
| dc.contributor.author | Gamage, Dinesh | |
| dc.contributor.author | Drummond, Tom | |
| dc.contributor.author | Dellaert, Frank | |
| dc.contributor.author | Roy, Nicholas | |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. College of Computing | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Interactive Computing | en_US |
| dc.contributor.corporatename | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory | en_US |
| dc.contributor.corporatename | Monash University. ARC Centre of Excellence for Robotic Vision | en_US |
| dc.date.accessioned | 2015-08-05T16:29:21Z | |
| dc.date.available | 2015-08-05T16:29:21Z | |
| dc.date.issued | 2015-05 | |
| dc.description | © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
| dc.description | DOI: 10.1109/ICRA.2015.7140100 | |
| dc.description.abstract | We propose a method of monocular camera-inertial based navigation for computationally limited micro air vehicles (MAVs). Our approach is derived from the recent development of parallel tracking and mapping algorithms, but unlike previous results, we show how the tracking and mapping processes operate using different representations.The separation of representations allows us not only to move the computational load of full map inference to a ground station, but to further reduce the computational cost of on-board tracking for pose estimation. Our primary contribution is to show how the cost of tracking the vehicle pose on-board can be substantially reduced by estimating the camera motion directly in the image frame, rather than in the world co-ordinate frame. We demonstrate our method on an Ascending Technologies Pelican quad-rotor, and show that we can track the vehicle pose with reduced on-board computation but without compromised navigation accuracy. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Ok, K.; Gamage, D.; Drummond, T.; Dellaert, F.; & Roy, N. (2015). "Monocular Image Space Tracking on a Computationally Limited MAV". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2015), 26-30 May 2015, pp. 6415-6422. | en_US |
| dc.identifier.doi | 10.1109/ICRA.2015.7140100 | |
| dc.identifier.uri | http://hdl.handle.net/1853/53708 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Computational load | en_US |
| dc.subject | Micro air vehicles | en_US |
| dc.subject | Monocular camera | en_US |
| dc.subject | Monocular image space tracking | en_US |
| dc.subject | Monocular vision-based | en_US |
| dc.subject | Pose estimation | en_US |
| dc.subject | Tracking | en_US |
| dc.title | Monocular Image Space Tracking on a Computationally Limited MAV | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Dellaert, Frank | |
| local.contributor.corporatename | Institute for Robotics and Intelligent Machines (IRIM) | |
| local.contributor.corporatename | College of Computing | |
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