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Navigation in Difficult Environments: Multi-Sensor Fusion Techniques [chapter]

Andrey Soloviev, Mikel M. Miller
2011 Sensors: Theory, Algorithms, and Applications  
, for example, features extracted from images of laser scanners and video cameras.  ...  of laser scanner, video camera, and inertial measurements.  ...  To enable operation of the UAV at any point on the flight path, a precision navigation, attitude, and time capability onboard the vehicle is required.  ... 
doi:10.1007/978-0-387-88619-0_9 fatcat:tycp46bmnzerxhxxavnilmnpcu

UAV routing with genetic algorithm based matheuristic for border security missions

Omer Ozkan, Muhammed Kaya
2021 An International Journal of Optimization and Control: Theories & Applications  
In computational studies, when compared GA with GABM it is seen that GABM has obtained good results and decreased the utilized number of UAVs (up to 400%) and their flight distances (up to 85.99%) for  ...  To solve the problem, a Genetic Algorithm Based Matheuristic (GABM) approach has been developed and 12 scenarios have been created covering the departure bases, daily patrol numbers, and ranges of UAVs  ...  For scenarios with long flight ranges the Bayraktar UAV can accomplish missions with smaller utilization ratios based on flight distances. The CPU times of the algorithms are presented in Table 5 .  ... 
doi:10.11121/ijocta.01.2021.001023 fatcat:xtkqgbdn45bc5fezbmsvx3wl44

Panoramic Camera [chapter]

2014 Computer Vision  
Theory and Examples Photo-consistency f .p; V / is a scalar function, which measures the visual compatibility of a given 3D reconstruction p with a set of images V .  ...  of a 3D reconstruction with a set of calibrated images.  ...  PCA is closely related with the singular value decomposition (SVD) of the data matrix.  ... 
doi:10.1007/978-0-387-31439-6_100157 fatcat:ar7ieiblvzeovnmn45w2olt43y

Design tool for TOF and SL based 3D cameras

Gregory Bouquet, Jostein Thorstensen, Kari Anne Hestnes Bakke, Petter Risholm
2017 Optics Express  
Active illumination 3D imaging systems based on Time-of-flight (TOF) and Structured Light (SL) projection are in rapid development, and are constantly finding new areas of application.  ...  We perform 3D measurements with both TOF and SL imaging systems, showing excellent agreement between theoretical and measured distance precision.  ...  Combining time-of-flight and structured-light As argued in previous sections, combination of TOF distance data and SL wrapped phase data can be advantageous in certain applications.  ... 
doi:10.1364/oe.25.027758 pmid:29092246 fatcat:xs75ehgy3naolnfk5noiwseogu

Rapid 3D Reconstruction for Image Sequence Acquired from UAV Camera

2018 Sensors  
method that is based on an image queue, considering the continuity and relevance of UAV camera images.  ...  In order to reconstruct three-dimensional (3D) structures from an image sequence captured by unmanned aerial vehicles' camera (UAVs) and improve the processing speed, we propose a rapid 3D reconstruction  ...  Xuan Zhang collected the experimental image data and helped improving the performance of the algorithm and analyzed the result. Jianyu Huang wrote the paper and Yufu Qu made the modification.  ... 
doi:10.3390/s18010225 pmid:29342908 pmcid:PMC5795716 fatcat:c662albqhbetdhduvmydypfk2q

Two Approaches for Dense DSM Generation from Aerial Digital Oblique Camera System

Massimiliano Pepe, Giuseppina Prezioso
2016 Proceedings of the 2nd International Conference on Geographical Information Systems Theory, Applications and Management  
Of particular interest is the new oblique camera system Leica RCD30 that combines vertical (nadir) and oblique cameras according to the "Maltese cross" characteristic scheme.  ...  a representation of the observed scene with a ground sample distance (GSD) of less than 10cm.  ...  ACKNOWLEDGEMENTS The authors thank Giovanni Abate and Jacques Markram, Leica Geosystems, for the supply of images and Michael O'Sullivan, Simactive, company for software availability.  ... 
doi:10.5220/0005774900630070 dblp:conf/gistam/PepeP16 fatcat:fof7qyjsd5g75mheb57zkucvoy

Obstacle Avoidance Using Stereo Camera [article]

Akkas Uddin Haque, Ashkan Nejadpak
2017 arXiv   pre-print
The system was tested on multiple paths with different obstacles and the results demonstrated the high accuracy of the developed system.  ...  A new algorithm is developed for the real-time obstacle avoidance which responds faster to unexpected obstacles.  ...  ACKNOWLEDGEMENTS We thank Professor Stanlake for his invaluable assistance in helping us 3D print out model.  ... 
arXiv:1705.04114v2 fatcat:ajqdm6q6hbbjxpwtuyluubl7ku

Photon-efficient imaging with a single-photon camera

Dongeek Shin, Feihu Xu, Dheera Venkatraman, Rudi Lussana, Federica Villa, Franco Zappa, Vivek K. Goyal, Franco N. C. Wong, Jeffrey H. Shapiro
2016 Nature Communications  
Reconstructing a scene's 3D structure and reflectivity accurately with an active imaging system operating in low-light-level conditions has wide-ranging applications, spanning biological imaging to remote  ...  Here we propose and experimentally demonstrate a depth and reflectivity imaging system with a single-photon camera that generates high-quality images from B1 detected signal photon per pixel.  ...  Acknowledgements The development of the reconstruction algorithm and performance of the computational imaging experiments were supported in part by the US National Science Foundation under grant nos 1161413  ... 
doi:10.1038/ncomms12046 pmid:27338821 pmcid:PMC4931023 fatcat:fhei56xly5e3tf3atezqwe7nvq

Multi-Camera Imaging System for UAV Photogrammetry

Damian Wierzbicki
2018 Sensors  
increasing the number of images, increasing the number of flight lines, and reducing the surface imaged during one flight.  ...  Next, the method of image alignment using the feature image matching algorithms was presented.  ...  Conflicts of Interest: The author declares no conflicts of interest.  ... 
doi:10.3390/s18082433 pmid:30050007 fatcat:bbmzszy2xbff5j46fcd77pc4mm

Pedestrian sensing using time-of-flight range camera

Xue Wei, Son Lam Phung, Abdesselam Bouzerdoum
2011 CVPR 2011 WORKSHOPS  
Bouzerdoum, "Pedestrian sensing using time-of-flight range camera," in IEEE CVPR Abstract This paper presents a new approach to detect pedestrians using a time-of-flight range camera, for applications  ...  This paper presents a new approach to detect pedestrians using a time-of-flight range camera, for applications in car safety and assistive navigation of the visually impaired.  ...  Major types of active 3-D sensors are triangulationbased laser cameras, fringe projection-based cameras, and time-of-flight cameras. • Triangulation-based laser cameras use reflected laser light and a  ... 
doi:10.1109/cvprw.2011.5981798 dblp:conf/cvpr/WeiPB11 fatcat:eahy27g7dfeqbd226vxz4ltlgu

Characterizing and correcting camera noises in back-illuminated sCMOS cameras [article]

Zhaoning Zhang, Yujie Wang, Rafael Piestun, Zhen-Li Huang
2021 bioRxiv   pre-print
With promising properties of fast imaging speed, large field-of-view, relative low cost and many others, back-illuminated sCMOS cameras have been receiving intensive attentions for low-light imaging in  ...  However, due to the pixel-to-pixel difference of camera noises (called noise non-uniformity) in sCMOS cameras, researchers may hesitate to use them in some application fields, and sometimes wonder whether  ...  Raw image frames were captured with 1 ms exposure time to enhance the impact of camera noises on raw images.  ... 
doi:10.1101/2021.01.01.425025 fatcat:226hrdb7xvd5li5sksa7tkh6ym

Small UAV Camera Gimbal Stabilization Using Digital Filters and Enhanced Control Algorithms for Aerial Survey and Monitoring

2020 Acta Montanistica Slovaca  
Because the camera stabilization is a k influencing the quality of the pictures or videos and considering the application on the UAVs performing the flights in and often also in the mountain terrain, the  ...  This article deals with the modelling of the actuator, conventional commercial servomotor used for gimbal stabilization and with the design and verification of the improved control algorithm based on the  ...  The results of the further image processing confirmed the theory and approximately ten times better results were achieved.  ... 
doi:10.46544/ams.v25i1.12 fatcat:vukw3wcg6jgozmebjmdo235ysa

Learning to estimate UAV created turbulence from scene structure observed by onboard cameras [article]

Quentin Possamaï, Steeven Janny, Madiha Nadri, Laurent Bako, Christian Wolf
2022 arXiv   pre-print
We learn a mapping from control input and images captured by onboard cameras to turbulence.  ...  In a large-scale setting, we train a model over a large number of different simulated photo-realistic environments loaded into the Habitat.AI simulator augmented with a dynamic UAV model and an analytic  ...  The point cloud of the scene is projected onto the camera plane at each instant of the flight, and the depth images are obtained using simple geometric transformation.  ... 
arXiv:2203.14726v1 fatcat:54kdt2cjjjd5ze7vtzwz773s7e

3D Face Tracking Using Stereo Cameras: A review

Faleh AlQahtani, Jasmine Banks, Vinod Chandran, Jinglan Zhang
2020 IEEE Access  
This review considers previous research, regarding the background and applications of 3D facetracking systems with a focus on stereo camera-based systems.  ...  Applications of the listed 3D face tracking systems are also discussed, including face modelling, film editing, access control, security, and surveillance.  ...  The major goals of having stereo data and time of flight fusion is to bring forth the information of the stereo system and of time of flight camera systems, so as to obtain 3D geometry that is significantly  ... 
doi:10.1109/access.2020.2994283 fatcat:76ipjzlji5d35jzjlh4ozwyigu

Calibration and Gray-level Image Generation for the SR4500 ToF Camera

Hui Zhang, Xuewen Rong, Yibin Li, Bin Li, Qin Zhang, Junwen Zhang
2016 International Journal of Control and Automation  
This paper proposes a novel distance calibration and gray-level image generation method for the SR4500 Time of Flight (ToF) camera.  ...  The algorithm of grayscale image generation is proposed in Section 4.  ...  In the 1990s, the first all-solid-state 3D-cameras based on the Time-of-Flight principle became available on the market [3] .  ... 
doi:10.14257/ijca.2016.9.6.26 fatcat:kvm2qbzxzbbcrharyvmawi4hyi
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