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2009
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Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV)

9 years 2 days ago
Fast and robust photomapping with an Unmanned Aerial Vehicle (UAV)
— A fast and robust method for visual odometry based on the Fourier-Mellin Invariant (FMI) descriptor is presented. It extends previous FMI based approaches in two ways. First, a logarithmic representation of the spectral magnitude of the FMI descriptor is used. Second, a filter on the frequency where the shift is supposed to appear is applied. It is shown with experiments with an Unmanned Aerial Vehicle that this improved Fourier-Mellin Invariant (iFMI) method is is indeed an advancement and well suited for online visual odometry to generate large photo maps.
Heikow Bülow, Andreas Birk
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Heikow Bülow, Andreas Birk
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