Multimodal Multispectral Imaging System for Small UAVs
| Autor: | Trym Vegard Haavardsholm, Annette Stahl, Torbjørn Skauli |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Multispectral image Biomedical Engineering Image processing 02 engineering and technology Simultaneous localization and mapping 01 natural sciences 010309 optics 020901 industrial engineering & automation Band-pass filter Artificial Intelligence 0103 physical sciences Computer vision Multimodal imaging business.industry Mechanical Engineering 3D reconstruction Computer Science Applications Human-Computer Interaction Cardinal point Control and Systems Engineering Computer Vision and Pattern Recognition Artificial intelligence business |
| Zdroj: | IEEE Robotics and Automation Letters |
| Popis: | Multispectral imaging is an attractive sensing modality for small unmanned aerial vehicles (UAVs) in numerous applications. The most compact spectral camera architecture is based on spectral filters in the focal plane. Vehicle movement can be used to scan the scene using multiple bandpass filters arranged perpendicular to the flight direction. With known camera trajectory and scene structure, it is possible to assemble a spectral image in software. In this letter, we demonstrate the feasibility of a novel concept for low-cost wide area multispectral imaging with integrated spectral consistency testing. Six bandpass filters are arranged in a periodically repeating pattern. Since different bands are recorded at different times and in different viewing directions, there is a risk of obtaining spectral artifacts in the image. We exploit the repeated sampling of bands to enable spectral consistency testing, which leads to significantly improved spectral integrity. In addition, an unfiltered region permits conventional 2D video imaging that can be used for image-based navigation and 3D reconstruction. The proposed multimodal imaging system was tested on a UAV in a realistic experiment. The results demonstrate that spectral reconstruction and consistency testing can be performed by image processing alone, based on visual simultaneous localization and mapping (VSLAM). Open Access CC-BY 4.0 |
| Databáze: | OpenAIRE |
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