Estimation de mouvement d'un drone à partir d'un capteur stéréo hybride
Identifieur interne : 000512 ( Hal/Curation ); précédent : 000511; suivant : 000513Estimation de mouvement d'un drone à partir d'un capteur stéréo hybride
Auteurs : Damien Eynard [France] ; Pascal Vasseur [France] ; Cédric Demonceaux [France] ; Vincent Fremont [France]Source :
Abstract
Motion and velocity are two of the most important parameters to be known for an Unmanned Aerial Vehicle (UAV) especially during critical maneuvers such as landing or steady flight. In this paper, we present mixed stereoscopic vision system made of a fish-eye camera and a perspective camera for motion estimation. Contrary to classical stereoscopic systems based on feature matching between cameras, we propose an algorithm which tracks and exploits points in each camera independently. The omnidirectional view estimates the orientation of the motion while the perspective view contribute to estimate the scale of the translation and brings accuracy. By fusing points tracked in each camera and knowing the rotation between two consecutive positions, we can estimate robustly the translation and the velocity using the two-points algorithm. Then motion is filtered by Kalman filter to remove bad estimations. By experimental results on UAV, we validate the approach.
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In this paper, we present mixed stereoscopic vision system made of a fish-eye camera and a perspective camera for motion estimation. Contrary to classical stereoscopic systems based on feature matching between cameras, we propose an algorithm which tracks and exploits points in each camera independently. The omnidirectional view estimates the orientation of the motion while the perspective view contribute to estimate the scale of the translation and brings accuracy. By fusing points tracked in each camera and knowing the rotation between two consecutive positions, we can estimate robustly the translation and the velocity using the two-points algorithm. Then motion is filtered by Kalman filter to remove bad estimations. By experimental results on UAV, we validate the approach.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="fr">Estimation de mouvement d'un drone à partir d'un capteur stéréo hybride</title><author role="aut"><persName><forename type="first">Damien</forename><surname>Eynard</surname></persName><email>damien.eyn@gmail.com</email><idno type="halauthor">459716</idno><affiliation ref="#struct-59714"></affiliation></author><author role="aut"><persName><forename type="first">Pascal</forename><surname>Vasseur</surname></persName><email></email><idno type="halauthor">355693</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Cédric</forename><surname>Demonceaux</surname></persName><email></email><idno type="idhal">cedric-demonceaux</idno><idno type="halauthor">578293</idno><affiliation ref="#struct-22594"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Fremont</surname></persName><email>vincent.fremont@hds.utc.fr</email><idno type="halauthor">419283</idno><affiliation ref="#struct-389441"></affiliation></author><editor role="depositor"><persName><forename>Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2011-06-06 01:20:16</date><date type="whenModified">2016-02-16 01:04:01</date><date type="whenReleased">2011-06-06 09:52:02</date><date type="whenProduced">2011-06</date><date type="whenEndEmbargoed">2011-06-06</date><ref type="file" target="https://hal.inria.fr/inria-00598255/document"><date notBefore="2011-06-06"></date></ref><ref type="file" subtype="author" n="1" target="https://hal.inria.fr/inria-00598255/file/paper07.pdf"><date notBefore="2011-06-06"></date></ref></edition><respStmt><resp>contributor</resp><name key="111518"><persName><forename>Peter</forename><surname>Sturm</surname></persName><email>Peter.Sturm@inria.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">inria-00598255</idno><idno type="halUri">https://hal.inria.fr/inria-00598255</idno><idno type="halBibtex">eynard:inria-00598255</idno><idno type="halRefHtml">ORASIS - Congrès des jeunes chercheurs en vision par ordinateur, Jun 2011, Praz-sur-Arly, France. 2011</idno><idno type="halRef">ORASIS - Congrès des jeunes chercheurs en vision par ordinateur, Jun 2011, Praz-sur-Arly, France. 2011</idno></publicationStmt><seriesStmt><idno type="stamp" n="ORASIS11">ORASIS'11 : 13ème Congrès des jeunes chercheurs en vision par ordinateur</idno><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="UNIV-PICARDIE">Université de Picardie Jules Verne</idno><idno type="stamp" n="UNIV-COMPIEGNE">Université de Technologie de Compiègne</idno><idno type="stamp" n="UNIV-LEHAVRE">Université du Havre</idno><idno type="stamp" n="UNIV-ROUEN">Université de Rouen</idno><idno type="stamp" n="ENSAM">Ecole Nationale Supérieure d'Arts et Métiers</idno><idno type="stamp" n="LITIS">Laboratoire d'Informatique, de Traitement de l'Information et des Systèmes</idno><idno type="stamp" n="LE2I" p="UNIV-BOURGOGNE">Laboratoire Electronique, Informatique et Image</idno><idno type="stamp" n="UNIV-BOURGOGNE">Université de Bourgogne</idno><idno type="stamp" n="DI" p="HEUDIASYC">Décision, Image</idno><idno type="stamp" n="HEUDIASYC">Laboratoire HEUDIASYC - Heuristique et Diagnostic des Systèmes Complexes</idno><idno type="stamp" n="UPJV-MIS-PR">équipe Perception Robotique du laboratoire Modélisation, Information & Systèmes (Université de Picardie Jules Verne)</idno><idno type="stamp" n="COMUE-NORMANDIE">Normandie Université</idno></seriesStmt><notesStmt><note type="audience" n="3">National</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="fr">Estimation de mouvement d'un drone à partir d'un capteur stéréo hybride</title><author role="aut"><persName><forename type="first">Damien</forename><surname>Eynard</surname></persName><email>damien.eyn@gmail.com</email><idno type="halAuthorId">459716</idno><affiliation ref="#struct-59714"></affiliation></author><author role="aut"><persName><forename type="first">Pascal</forename><surname>Vasseur</surname></persName><idno type="halAuthorId">355693</idno><affiliation ref="#struct-23832"></affiliation></author><author role="aut"><persName><forename type="first">Cédric</forename><surname>Demonceaux</surname></persName><idno type="idHal">cedric-demonceaux</idno><idno type="halAuthorId">578293</idno><affiliation ref="#struct-22594"></affiliation></author><author role="aut"><persName><forename type="first">Vincent</forename><surname>Fremont</surname></persName><email>vincent.fremont@hds.utc.fr</email><idno type="halAuthorId">419283</idno><affiliation ref="#struct-389441"></affiliation></author></analytic><monogr><meeting><title>ORASIS - Congrès des jeunes chercheurs en vision par ordinateur</title><date type="start">2011-06</date><settlement>Praz-sur-Arly</settlement><country key="FR">France</country></meeting><respStmt><resp>conferenceOrganizer</resp><name>INRIA Grenoble Rhône-Alpes</name></respStmt><imprint><date type="datePub">2011</date></imprint></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><classCode scheme="halDomain" n="info.info-cv">Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV]</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">Motion and velocity are two of the most important parameters to be known for an Unmanned Aerial Vehicle (UAV) especially during critical maneuvers such as landing or steady flight. In this paper, we present mixed stereoscopic vision system made of a fish-eye camera and a perspective camera for motion estimation. Contrary to classical stereoscopic systems based on feature matching between cameras, we propose an algorithm which tracks and exploits points in each camera independently. The omnidirectional view estimates the orientation of the motion while the perspective view contribute to estimate the scale of the translation and brings accuracy. By fusing points tracked in each camera and knowing the rotation between two consecutive positions, we can estimate robustly the translation and the velocity using the two-points algorithm. Then motion is filtered by Kalman filter to remove bad estimations. By experimental results on UAV, we validate the approach.</abstract><abstract xml:lang="fr">Le mouvement et la vitesse sont deux paramètres essentiels à connaitre lors de la navigation d'un drone en particulier durant les phases critiques d'atterrissage et de navigation. Dans cet article, nous présentons un système stéréoscopique mixte composé d'une caméra fisheye et d'une caméra perspective pour estimer le mouvement. Le mouvement est découplé en rotation et translation. La vue fisheye évalue cette rotation, l'attitude et la translation globale alors que la vue perspective contribue à déterminer l'échelle de la translation et apporte une information de précision. Contrairement aux systèmes stéréoscopiques classiques basés sur l'appariement de primitives, nous proposons un algorithme qui suit et exploite des points dans chacune des caméras indépendamment. Les points suivis dans chacune des caméras sont classés en deux types puis sont fusionnés : on distingue les points localisés sur le sol, dont la profondeur est connue et les autres points de l'environnement, dont la profondeur est inconnue. Nous pouvons alors estimer de façon robuste la translation et la vitesse en utilisant l'algorithme des deux points suivi d'un filtrage de Kalman. Nous montrons que cette approche est robuste et précise grâce à l'utilisation des vues hybrides. Des résultats de synthèse et expérimentaux sur des séquences réelles d'un drone démontrent la validité de cette approche.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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