1 / 1

Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation

Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation. F. Caballero 1 , L. Merino 2 , J Ferruz 1 and A. Ollero 1 1 University of Seville, Seville (Spain) 2 Pablo de Olavide University, Seville (Spain).

reia
Download Presentation

Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Homography Based Kalman Filter for Mosaic Building. Applications to UAV position estimation F. Caballero1, L. Merino2, J Ferruz1 and A. Ollero11 University of Seville, Seville (Spain) 2 Pablo de Olavide University, Seville (Spain) • Probabilistic framework where uncertainties can be considered in the mosaic building process. • Inter-image relations are modeled by homographies and its covariances. • When a loop is closed, the estimation errors can be compensated and propagated to the rest of the mosaic. • The relations among images in the mosaic can be used to localize the robot. Parking at LAAS, France. Mosaic composed by 450 images

More Related