Robotics and Computer Vision Lab

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저 자 Jean-Charles Bazin, In So Kweon, Cedric Demonceaux, Pascal Vasseur
학 회 IEEE International Conference on Robotics and Automation (ICRA’08)
논문일시(Year) 2008
논문일시(Month) 05
Unmanned Aerial Vehicles (UAV) are the subject of an increasing interest in many applications and a key requirement is the stabilization of the vehicle. Some previous works have suggested using catadioptric vision, instead of traditional perspective cameras, in order to gather much more information from the environment and therefore improve the robustness of the UAV attitude estimation. This paper belongs to a series of recent publications of our research group concerning catadioptric vision for UAVs. Currently, we focus on the estimation of the complete attitude of a UAV flying in urban environment. In order to avoid the limitations of horizon-based approaches, the difficulties of traditional epipolar methods, i.e. homography or undamental matrix, (such as rotation-translation ambiguity, lack of features, retrieving motion parameters) and improve UAV dynamic control, we suggest computing infinite homography. We show how catadioptric vision plays a key role to: first, extract a large number of lines, second robustly estimate the associated vanishing points and third, track them even during long video sequences. Therefore it is not only possible to estimate the relative rotation between consecutive frames but also compute the absolute rotation between two distant frames without error accumulation. Finally, we present some experimental results with ground truth data to demonstrate the accuracy and the robustness of our method.

List of Articles
225. Robust region boundary tracking in noisy image sequences
Dongjoong Kang, In So Kweon
2nd Japan-Korea Joint Workshop on Computer Vision 1996 / 02
224. Active vision for intelligent vehicles
Dongjoong Kang, In So Kweon
International Workshop on Computer Vision Technology 1996 / 12
223. A visual tracking algorithm by integrating rigid model and snake
Dongjoong Kang, In So Kweon
IEEE International Conference on Intelligent Systems and Robots 1996 / 11
222. A Kalman filter based visual tracking algorithm for an object moving in 3-D
J. Lee, M. Kim, In So Kweon
IEEE International Conference on Intelligent Systems and Robots 1995 / 08
221. A self-localization algorithm for a mobile robot using perspective invariant
Kyoungsig Roh, S. Kim, Wangheon Lee, In So Kweon
International Workshop on Advanced Mechatronics 1995 / 12
220. Active vision algorithms using projective invariants
Dongsu Kim, Kyoungsig Roh, In So Kweon
Annual Conference of Robotics Society in Japan 1994 / 11
219. A new 2-D object recognition algorithm using geometric invariance
Kyoungsig Roh, In So Kweon
International Symposium on Advances in Computer Integrated Manufacturing Systems 1994 / 11
218. Model based color halftoning techniques on perceptually uniform color spaces
C. Kim, S. Kim, Y. Seo, In So Kweon
IST&T/SPIE International Conference on Digital Video Compression and Processing on Personal Computers: Algorithms and Technologies 1994 / 01
217. A behavior-based intelligent robot in dynamic indoor environments
In So Kweon, M. Watanabe, K. Onoguchi, Y. Kuno
IEEE International Conference on Robotics and Automation (ICRA) 1992 / 05
216. behavior-based mobile robot using active sensor fusion
In So Kweon, M. Watanabe, K. Onoguchi, Y. Kuno
IEEE International Conference on Intelligent Robots and Systems (IROS) 1992 / 07
215. A three-layered system architecture for behavior-based mobile robots
M. Watanabe, K. Onoguchi, In So Kweon, Y. Kuno
IEEE International Conference on Robotics and Automation (ICRA) 1992 / 05
214. Vision-based behaviors for indoor mobile robots
In So Kweon, K. Onoguchi, M. Watanabe, Y. Kuno
Information Processing Society of Japan Workshop on Computer Vision 1992 / 01
213. Vehicle control using target tracking
K. Onoguchi, M. Watanabe, In So Kweon, Y. Kuno
Information Processing Society of Japan Workshop on Computer Vision 1991 / 07
212. Extracting topographic terrain features for outdoor mobile robots
In So Kweon, T. Kanade
IEEE International Conference on Robotics and Automation (ICRA) 1991 / 04
211. Behavior-based mobile robot using multiple sensors
In So Kweon, M. Watanabe, K. Onoguchi, Y. Kuno
The 1st Korea-Japan Joint Conference on Computer Vision 1991 / 10
210. High resolution terrain map from multiple sensor data
In So Kweon, T. Kanade
IEEE International Workshop on Intelligent Robots and Systems (IROS) 1990 / 07
209. A mobile robot for lunar surface operations
Bares, In So Kweon, D. Wettegreen, W. Whittaker
NASA Conference on Space Telerobotics 1990 / 03
208. Methods for identifying footfall positions for a legged robot
Caillas, In So Kweon, E. Krotkov, M. Hebert
IEEE International Workshop on Intelligent Robots and Systems (IROS) 1989 / 09
207. Terrain mapping for a roving planetary explorer
M. Hebert, E. Krotkov, In So Kweon, T. Kanade
IEEE International Conference on Robotics and Automation (ICRA) 1989 / 05
206. First results in terrain mapping for a roving planetary explorer
E. Krotkov, M. Hebert, In So Kweon, T.Kanade
NASA Conference on Space Telerobotics 1989 / 01
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