2024-03-28T15:00:07Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/1672142020-12-10T15:47:02Zcom_10261_106com_10261_4col_10261_1241
2018-06-29T10:07:05Z
urn:hdl:10261/167214
Planar PØP: Feature-less pose estimation with applications in UAV localization
Amor-Martinez, Adrian
Santamaria-Navarro, Àngel
Herrero, Fernando
Ruiz, Alberto
Sanfeliu, Alberto
Comisión Interministerial de Ciencia y Tecnología, CICYT (España)
Ministerio de Economía y Competitividad (España)
European Commission
Trabajo presentado al IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), celebrado en Lausanne (Suiza) del 23 al 27 de octubre de 2016.
We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not necessarily have distinguished features like corners or intersecting edges. Instead of using n correspondences (e.g. extracted with a feature detector) we will use the raw polygonal representation of the observed shape and directly estimate the pose in the pose-space of the camera. This method compared with a general PnP method, does not require n point correspondences neither a priori knowledge of the object model (except the scale), which is registered with a picture taken from a known robot pose. Moreover, we achieve higher precision because all the information of the shape contour is used to minimize the area between the projected and the observed shape contours. To emphasize the non-use of n point correspondences between the projected template and observed contour shape, we call the method Planar PØP. The method is shown both in simulation and in a real application consisting on a UAV localization where comparisons with a precise ground-truth are provided.
2018-06-29T10:07:05Z
2018-06-29T10:07:05Z
2016
2018-06-29T10:07:05Z
comunicación de congreso
IEEE International Symposium on Safety, Security, and Rescue Robotics: 15-20 (2016)
http://hdl.handle.net/10261/167214
10.1109/SSRR.2016.7784271
http://dx.doi.org/10.13039/501100007273
http://dx.doi.org/10.13039/501100003329
http://dx.doi.org/10.13039/501100000780
eng
Postprint
https://doi.org/10.1109/SSRR.2016.7784271
Sí
info:eu-repo/grantAgreement/EC/H2020/644271
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2013-42458-P
info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/TIN2015-66972-C5-3-R
openAccess
Institute of Electrical and Electronics Engineers