A new approach for an incremental orientation of micro-UAV image sequences

Show simple item record

dc.identifier.uri http://dx.doi.org/10.15488/889
dc.identifier.uri http://www.repo.uni-hannover.de/handle/123456789/913
dc.contributor.author Reich, Martin
dc.contributor.author Unger, Jakob
dc.contributor.author Rottensteiner, Franz
dc.contributor.author Heipke, Christian
dc.date.accessioned 2016-12-21T10:56:41Z
dc.date.available 2016-12-21T10:56:41Z
dc.date.issued 2014
dc.identifier.citation Reich, M.; Unger, J.; Rottensteiner, F.; Heipke, C.: A new approach for an incremental orientation of micro-UAV image sequences. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 (2014), Nr. 3W1, S. 93-98. DOI: https://doi.org/10.5194/isprsarchives-XL-3-W1-93-2014
dc.description.abstract Civil applications for small size unmanned aerial vehicles (UAV) have become quite important in recent years and so have accurate orientation and navigation of these devices in unknown terrain. In this work we focus on on-line compatible positioning in facade observation based on monocular low resolution still images acquired by a camera mounted on a UAV. Also, a 3D point cloud of the facade is generated. This allows further processing steps, e. g. navigation assistance, collision avoidance or the evaluation of the point cloud density, verifying completeness of the data. To be able to deal with the increasing amount of observations and unknown parameters we implement an incremental bundle adjustment based on automatically determined tie points and sliding image triplets. The tripletwise orientation allows for an efficient double cross-check of the detected feature points and hence guarantees reliable initial values for the nonlinear bundle adjustment. The initial values are estimated within a convex formulation delivering a sound basis for the incremental adjustment. Our algorithm is evaluated by means of imagery we took of the facade of the Welfenschloss in Hannover, captured from a manually flown Microdrones md4-200 micro-UAV. We compare the orientation results of our approach with an approach in which initial values for the unknown object coordinates are computed algebraically. eng
dc.language.iso eng
dc.publisher Hannover : International Society for Photogrammetry and Remote Sensing
dc.relation.ispartofseries International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives 40 (2014)
dc.rights CC BY 3.0 Unported
dc.rights.uri https://creativecommons.org/licenses/by/3.0/
dc.subject Incremental bundle adjustment eng
dc.subject Orientation eng
dc.subject UAV eng
dc.subject Air navigation eng
dc.subject Convex optimization eng
dc.subject Crystal orientation eng
dc.subject Facades eng
dc.subject Bundle adjustments eng
dc.subject Civil applications eng
dc.subject Convex optimisation eng
dc.subject New approaches eng
dc.subject Orientation and navigation eng
dc.subject Processing steps eng
dc.subject Unknown objects eng
dc.subject Unknown terrain eng
dc.subject Unmanned aerial vehicles (UAV) eng
dc.subject.classification Konferenzschrift ger
dc.subject.ddc 000 | Informatik, Informationswissenschaft, allgemeine Werke ger
dc.subject.ddc 550 | Geowissenschaften ger
dc.title A new approach for an incremental orientation of micro-UAV image sequences eng
dc.type article
dc.type Text
dc.relation.issn 16821750
dc.relation.doi https://doi.org/10.5194/isprsarchives-XL-3-W1-93-2014
dc.bibliographicCitation.issue 3W1
dc.bibliographicCitation.volume 40
dc.bibliographicCitation.firstPage 93
dc.bibliographicCitation.lastPage 98
dc.description.version publishedVersion
tib.accessRights frei zug�nglich


Files in this item

This item appears in the following Collection(s):

Show simple item record

 

Search the repository


Browse

My Account

Usage Statistics