3-D model-based tracking for UAV indoor localization

C. Teuliere 1 Eric Marchand 2 L. Eck 3
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA_D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper proposes a novel model-based tracking approach for 3-D localization. One main difficulty of standard model-based approach lies in the presence of low-level ambiguities between different edges. In this paper, given a 3-D model of the edges of the environment, we derive a multiple hypotheses tracker which retrieves the potential poses of the camera from the observations in the image. We also show how these candidate poses can be integrated into a particle filtering framework to guide the particle set toward the peaks of the distribution. Motivated by the UAV indoor localization problem where GPS signal is not available, we validate the algorithm on real image sequences from UAV flights.
Type de document :
Article dans une revue
IEEE Transactions on Cybernetics, IEEE, 2015, 45 (5), pp.869-879. 〈10.1109/TCYB.2014.2337652〉
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Contributeur : Léna Le Roy <>
Soumis le : vendredi 20 juillet 2018 - 14:34:27
Dernière modification le : jeudi 15 novembre 2018 - 11:59:00



C. Teuliere, Eric Marchand, L. Eck. 3-D model-based tracking for UAV indoor localization. IEEE Transactions on Cybernetics, IEEE, 2015, 45 (5), pp.869-879. 〈10.1109/TCYB.2014.2337652〉. 〈hal-01845540〉



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