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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
Name - Short Title

Robust Embedded Egomotion Estimationwith Application to Aerial Inspection Vehicles

Rainer Voigt

28. September 2011

airobots innovative aerial service for remote inspections by contact
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

motion estimation
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

visual egomotion
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

visual egomotion1
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

visual egomotion2
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

results
Results
  • Robust real-time motion estimation on single core Intel Atom CPU
  • Vehicle stabilization

Rainer Voigt – Robust Embedded Egomotion Estimation