SMC 2017: Real-time Rigid Motion Segmentation using Grid-based Optical Flow

In the paper, we propose a rigid motion segmentation algorithm with the grid-based optical flow. The algorithm selects several adjacent points among grid-based optical flows to estimate motion hypothesis based on a so-called entropy and generates motion hypotheses between two images, thus separates objects which move independently of each other. The grid-based entropy is accumulated as a new motion hypothesis generated and the high value of entropy means that the motion has been estimated ina...

MS Thesis 2017: Robust Visual Odometry via Rigid Motion Segmentation for Dynamic Environments

In the paper, we propose a robust visual odometry algorithm for dynamic environments via rigid motion segmentation using a grid-based optical flow. The algorithm first divides image frame by a fixed-size grid, then calculates the three-dimensional motion of grids for light computational load and uniformly distributed optical flow vectors. Next, it selects several adjacent points among grid-based optical flow vectors based on a so-called entropy and generates motion hypotheses formed by three-...

ICROS 2017: Survey on Visual Odometry Technology for Unmanned Systems

This paper surveys visual odometry technology for unmanned systems. Visual odometry is one of the most important technologies to implement vision-based navigation; therefore, it is widely applied to unmanned systems in recent years. Visual odometry estimates a trajectory and a pose of the system, and it could be classified into the following: 1) stereo vs. monocular, 2) feature-based or indirect vs. direct, and 3) linear vs. nonlinear based on the number of cameras, information attributes, an...

ICCAS 2016: Exposure Correction and Image Blending for Planar Panorama Stitching

In this paper, we propose a planar panorama stitching method to blend consecutive images captured by a multirotor equipped with a fish-eye camera. In addition, we suggest an exposure correction method to reduce the brightness difference between contiguous images, and a drift error correction method to compensate the estimated position of multirotor. In experiments, the multi-rotor flies at 35 meters above the ground, and the fish-eye camera attached in gimbals system takes pictures. Then we v...