Omnidirectional Visual Odometry for Flying Robots using Low-power Hardware

Simon Reich, Maurice Seer, Lars Berscheid, Florentin Wörgötter, Jan-Matthias Braun

2018

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 embedded 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.

Paper Citation

in Harvard Style

Reich S., Seer M., Berscheid L., Wörgötter F. and Braun J. (2018). Omnidirectional Visual Odometry for Flying Robots using Low-power Hardware. In Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP; ISBN 978-989-758-290-5, SciTePress, pages 499-507. DOI: 10.5220/0006509704990507

in Bibtex Style

@conference{visapp18,
author={Simon Reich and Maurice Seer and Lars Berscheid and Florentin Wörgötter and Jan-Matthias Braun},
title={Omnidirectional Visual Odometry for Flying Robots using Low-power Hardware},
booktitle={Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP},
year={2018},
pages={499-507},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006509704990507},
isbn={978-989-758-290-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications (VISIGRAPP 2018) - Volume 5: VISAPP
TI - Omnidirectional Visual Odometry for Flying Robots using Low-power Hardware
SN - 978-989-758-290-5
AU - Reich S.
AU - Seer M.
AU - Berscheid L.
AU - Wörgötter F.
AU - Braun J.
PY - 2018
SP - 499
EP - 507
DO - 10.5220/0006509704990507
PB - SciTePress