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Robust Embedded Egomotion Estimation with Application to Aerial Inspection Vehicles

Robust Embedded Egomotion Estimation with Application to Aerial Inspection Vehicles. Rainer Voigt 28. September 2011. AIRobots Innovative Aerial Service for Remote Inspections by Contact. Inspection of e.g. Thermal Power Plants Boilers up to 100 meters high Up to 1 Mio USD per day of outage

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Robust Embedded Egomotion Estimation with Application to Aerial Inspection Vehicles

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  1. Name - Short Title Robust Embedded Egomotion Estimationwith Application to Aerial Inspection Vehicles Rainer Voigt 28. September 2011

  2. AIRobotsInnovative Aerial Service for Remote Inspections by Contact • Inspection of e.g. Thermal Power Plants • Boilers up to 100 meters high • Up to 1 Mio USD per day of outage • UAV for visual pre-inspection Rainer Voigt – Robust Embedded Egomotion Estimation

  3. Motion Estimation • Front-Looking Stereo-IMU Rig • Motion Estimation with Sparse Features • Tight Coupling of Visual and Inertial Cues for Feature Disambiguation on repetitive Texture HDR, Global Shutter CMOS Sensors 3x Gyroscopes3-Axis Accelerometer High Power LEDs Rainer Voigt – Robust Embedded Egomotion Estimation

  4. Visual Egomotion • Extract key points • Compute descriptors • Associate features ofleft and right image • Triangulate features to obtain 3D points Rainer Voigt – Robust Embedded Egomotion Estimation

  5. Visual Egomotion • Extract key points • Compute descriptors • Associate features ofleft and right image • Triangulate features to obtain 3D points Rainer Voigt – Robust Embedded Egomotion Estimation

  6. Visual Egomotion • Capture next stereo shot • Compute key points,descriptors and 3D points • Predict feature locationsvia IMU motion constraints • Associate features betweenboth stereo pairs • RANSAC outlier rejection • Refinement via bundle adjustment Rainer Voigt – Robust Embedded Egomotion Estimation

  7. Results • Robust real-time motion estimation on single core Intel Atom CPU • Vehicle stabilization Rainer Voigt – Robust Embedded Egomotion Estimation

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