Robotics and Computer Vision Lab

Publications

International Conference
2013.06.22 13:51

Relative Pose Estimation for an Integrated UGV-UAV Robot System

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저 자 Yongseop Jeong, In So Kweon
학 회 The 6th International Conference on Intelligent Robotics and Applications(ICIRA)
논문일시(Year) 2013
논문일시(Month) 09
We designed an integrated system of an UGV and an UAV, and propose a sensor-based relative pose estimation method for this system. Most of service robots are wheeled robots which can be easily controlled. However, due to the development of aerial vehicle technologies including sensors and wireless communication, recent UAVs can have lower weight, longer flight time and stabilized control system. Emerging an UGV and an UAV for certain service can be a better choice for personal or public services, especially for effective surveillance. In this paper, a commercial micro-UAV and a low-price, sensor-equipped mobile base are integrated to provide surveillance services. A fish-eye camera and an ultrasonic range finder sensor are utilized to estimate relative translation between two robots. Attitude and heading reference systems in both robots are utilized to estimate relative rotation between them. The probabilistic filter is applied to compensate sensor or camera measurement noises. The robustness of the proposed system is verified by a quad-camera stereo capture system. Also, practical application is provided with a scenario which performs the homing of the UAV from arbitrary location.

List of Articles
214. RGBD Sensor and Mirrors: a Practical Setup for 3D Reconstruction of Dynamic Objects
Min-Hyun Kim, Jaesik Park, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
213. A Simple and Real-Time Moving Object Detection Invariant to Cast Shadow
Tae-Hyun Oh, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
212. A Fusion Approach for Robust Visual Object Tracking in Crowd Scenes
Tae-Hyun Oh, Kyungdon Joo, Junsik Kim, Jaesik Park, In So Kweon
The 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2014 / 11
211. Geometric Calibration of Micro-Lens-Based Light-Field Cameras using Line Features
Yunsu Bok, Hae-Gon Jeon, In So Kweon
European Conference on Computer Vision (ECCV) 2014 / 09
210. Extrinsic Calibration of 2D Laser Sensors
Dong-Geol Choi, Yunsu Bok, Jun-sik Kim, In So Kweon
International Conference on Robotics & Automation (ICRA) 2014 / 05
209. Extrinsic Calibration of Non-overlapping Camera-Laser System using Structured Environment
Yunsu Bok, Dong-Geol Choi, Pascal Vasseur, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014 / 09
208. GMM-based Saliency Aggregation for Calibration-free Gaze Estimation
Jinsoo Choi, Byungtae Ahn, Jaesik Park, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
207. Cost-Aware Depth Map Estimation for Lytro Camera
Min Jung Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
206. Balanced Optical Flow Refinement by Bidirectional Constraint
Jongwon Choi, Hyeongwoo Kim, Tae-Hyun Oh, In So Kweon
International Conference on Image Processing (ICIP) 2014 / 10
205. Auto-adjusting Camera Exposure for Outdoor Robotics using Gradient Information
Inwook Shim, Joon-Young Lee, In So Kweon
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2014 / 09
204. Color Transfer using Probabilistic Moving Least Squares
Youngbae Hwang, Joon-Young Lee, In So Kweon, Seon Joo Kim
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
203. Exploiting Shading Cues in Kinect IR Images for Geometry Refinement
Gyeongmin Choe, Jaesik Park, Yu-Wing Tai, In So Kweon
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
202. Calibrating a non-isotropic near point light source using a plane
Jaesik Park, Sudipta N. Sinha, Yasuyuki Matsushita, Yu-Wing Tai, In So Kweon
IEEE International Conference on Computer Vision and Pattern Recognition (CVPR) 2014 / 06
201. PRISM: A System for Weighted Multi-Color Browsing of Fashion Products
Donggeun Yoo, Kyunghyun Paeng, Sunggyun Park, Jungin Lee, Seungwook Paek, Sung-Eui Yoon, In So Kweon
International World Wide Web Conference (WWW) Companion 2014 / 04
200. Noise aware depth denoising for a time-of-flight camera
Jiyoung Jung, Joon-Young Lee, In So Kweon
20th Korea-Japan Joint Workshop on Frontiers of Computer Vision 2014 / 02
199. Robust Computer Vision Techniques for High-quality 3D Modeling
Joon-Young Lee, Jiyoung Jung, Yunsu Bok, Jaesik Park, Dong-Geol Choi, Yudeog Han, In So Kweon
IAPR Asian Conference on Pattern Recognition 2013 / 11
198. Orientation based multi-scale corner detection for mobile robot application
Sungho Kim, In So Kweon, Wangheon Lee
International Conference on Control, Automation and Systems 2012 / 10
197. Appearance-based Gaze Estimation using Kinect
Jinsoo Choi, Byungtae Ahn, Jaesik Park, In So Kweon
The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2013) 2013 / 10
196. Haze Removal on Superpixel Domain
Sang-Woo Noh, Byungtae Ahn, In So Kweon
The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2013 / 10
195. Partial Sum Minimization of Singular Values in RPCA for Low-Level Vision
Tae-Hyun Oh, Hyeongwoo Kim, Yu-Wing Tai, Jean-Charles Bazin, In So Kweon
IEEE International Conference on Computer Vision (ICCV) 2013 / 12
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