MorphEyes: Variable Baseline Stereo For Quadrotor Navigation
| Autor: | Cornelia Fermüller, Nitin J. Sanket, Yiannis Aloimonos, Chahat Deep Singh, Varun Asthana |
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| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology Computer science business.industry Computer Vision and Pattern Recognition (cs.CV) Computer Science - Computer Vision and Pattern Recognition ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION 02 engineering and technology Visual control Synchronization Visualization Computer Science - Robotics Variable (computer science) 020901 industrial engineering & automation Stereopsis Range (statistics) Computer vision Artificial intelligence Baseline (configuration management) business Robotics (cs.RO) Stereo camera |
| Zdroj: | ICRA |
| DOI: | 10.1109/icra48506.2021.9561116 |
| Popis: | Morphable design and depth-based visual control are two upcoming trends leading to advancements in the field of quadrotor autonomy. Stereo-cameras have struck the perfect balance of weight and accuracy of depth estimation but suffer from the problem of depth range being limited and dictated by the baseline chosen at design time. In this paper, we present a framework for quadrotor navigation based on a stereo camera system whose baseline can be adapted on-the-fly. We present a method to calibrate the system at a small number of discrete baselines and interpolate the parameters for the entire baseline range. We present an extensive theoretical analysis of calibration and synchronization errors. We showcase three different applications of such a system for quadrotor navigation: (a) flying through a forest, (b) flying through an unknown shaped/location static/dynamic gap, and (c) accurate 3D pose detection of an independently moving object. We show that our variable baseline system is more accurate and robust in all three scenarios. To our knowledge, this is the first work that applies the concept of morphable design to achieve a variable baseline stereo vision system on a quadrotor. Comment: 7 pages, 10 figures, 1 table. Under review in ICRA 2021 |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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