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We combine a visual odometry system with an aided inertial navigation filter to produce a precise and robust navigation system that does not rely on external infrastructure. Incremental structure from motion with sparse bundle adjustment using a stereo camera provides real-time highly accurate pose estimates of the sensor which are combined with six degree-of-freedom inertial measurements in an Extended...
In this paper we propose a new algorithm for relative pose estimation between two images based on a new decomposition for an homography matrix faster than the classical solutions. We introduce in our method approximate information about the planes in the reference images but this additional information allows the decomposition to avoid the multiplicity of solutions. An exhaustive analysis of the error...
In this paper, we propose the extension of a view-based method for autonomous track following formerly introduced as Optical Rails by to vector-valued feature images. Instead of gray or color values, the whole analysis works on local orientations, extracted from omnidirectional input images and represented as low-frequency vector-valued view descriptors using spherical harmonics. New signal processing...
A navigation algorithm completely based on machine vision for the autonomic landing of UAV without heading and attitude sensors is presented. The image of an airport runway lighting acquired by the airborne camera is determined by the aircraftpsilas attitude, heading and position relative to the runway. The image gradients of the centerline and threshold bar of runway lighting, the lognitudinal mean...
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