Authors:
Simon Reich
;
Maurice Seer
;
Lars Berscheid
;
Florentin Wörgötter
and
Jan-Matthias Braun
Affiliation:
Georg-August-Universität Göttingen, Germany
Keyword(s):
Visual Odometry, Embedded Hardware, Omnidirectional Vision.
Related
Ontology
Subjects/Areas/Topics:
Active and Robot Vision
;
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Optical Flow and Motion Analyses
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
Abstract:
Currently, flying robotic systems are in development for package delivery, aerial exploration in catastrophe areas,
or maintenance tasks. While many flying robots are used in connection with powerful, stationary computing
systems, the challenge in autonomous devices—especially in indoor-rescue or rural missions—lies in the need
to do all processing internally on low power hardware. Furthermore, the device cannot rely on a well ordered or
marked surrounding. These requirements make computer vision an important and challenging task for such
systems. To cope with the cumulative problems of low frame rates in combination with high movement rates of
the aerial device, a hyperbolic mirror is mounted on top of a quadrocopter, recording omnidirectional images,
which can capture features during fast pose changes. The viability of this approach will be demonstrated by
analysing several scenes. Here, we present a novel autonomous robot, which performs all computations online
on low power embedd
ed hardware and is therefore a truly autonomous robot. Furthermore, we introduce several
novel algorithms, which have a low computational complexity and therefore enable us to refrain from external
resources.
(More)