Attitude estimation from polarimetric cameras

Mojdeh Rastgoo 1, 2 Cédric Demonceaux 1, 2 Ralph Seulin 1, 2 Olivier Morel 1, 2
2 VIBOT - VIsion pour la roBOTique [VIBOT CNRS ERL 6000]
CNRS - Centre National de la Recherche Scientifique : ERL6000, Le2i - Laboratoire d'Electronique, d'Informatique et d'Image [EA 7508]
Abstract : In the robotic field, navigation and path planning applications benefit from a wide range of visual systems (e.g. perspective cameras, depth cameras, catadioptric cameras, etc.). In outdoor conditions, these systems capture information in which sky regions cover a major segment of the images acquired. However, sky regions are discarded and are not considered as visual cue in vision applications. In this paper, we propose to estimate attitude of Unmanned Aerial Vehicle (UAV) from sky information using a polarimetric camera. Theoretically , we provide a framework estimating the attitude from the skylight polarized patterns. We showcase this formulation on both simulated and real-word data sets which proved the benefit of using polarimetric sensors along with other visual sensors in robotic applications.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, Oct 2018, Madrid, Spain
Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-01865236
Contributeur : Cédric Demonceaux <>
Soumis le : vendredi 31 août 2018 - 11:00:10
Dernière modification le : mercredi 12 septembre 2018 - 01:26:35

Fichier

Rastgoo_IROS18.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01865236, version 1

Citation

Mojdeh Rastgoo, Cédric Demonceaux, Ralph Seulin, Olivier Morel. Attitude estimation from polarimetric cameras. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems - IROS, Oct 2018, Madrid, Spain. 〈hal-01865236〉

Partager

Métriques

Consultations de la notice

22

Téléchargements de fichiers

8