A mosaicing approach for vessel visual inspection using a micro-aerial vehicle

Garcia-Fidalgo, Emilio; Ortiz, Alberto; Bonnín-Pascual, Francisco

doi:10.1109/iros.2015.7353361

Cited by 15 publications

(17 citation statements)

References 28 publications

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“…Then, each keyframe is associated to an absolute homography M H i , which relates the correspondent keyframe i with the mosaic frame M . In our previous work [2], the mosaic frame was selected as the node with the highest output degree after the graph construction was completed. In this work, since BIMOS processes images on demand and the graph is updated as new images arrive, the first keyframe is always selected as the reference frame of the mosaic.…”

Section: A Mosaic Graphmentioning

confidence: 99%

“…First of all, the ORB [15] algorithm is used to detect and describe a set of keypoints in the image. We use ORB due to its good tolerance to rotations [24], instead of FAST [25] and LDB [17] as in our previous solution [2]. However, note that BIMOS is descriptor-independent and any detector-descriptor combination including a binary descriptor can be used.…”

Section: B Keyframe Selectionmentioning

confidence: 99%

“…In this regard, several platforms have been recently proposed for vessel inspection [1], [2], underwater surveying [3]- [8] or aerial mapping [9]- [11], where the operating conditions can be dangerous for human intervention. In the last decades, cameras have been widely used for collecting information from the environment, due to their low cost, the richness of the sensor data provided and the availability of cheap powerful computers.…”

Section: Introductionmentioning

confidence: 99%

“…However, it is less usual to find solutions that make use of forward-looking cameras, as presented in [3] for underwater environments and in [2] for a Micro-Aerial Vehicle (MAV). Furthermore, image mosaicing algorithms are usually validated to work in only one environment.…”

Section: Introductionmentioning

confidence: 99%

“…In our previous work [2], we presented an image mosaicing approach to work with sequences of images captured by a MAV. The resulting mosaics were then used during a vessel inspection process.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Fast image mosaicing using incremental bags of binary words

Garcia-Fidalgo¹,

Ortiz²,

Bonnín-Pascual³

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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Image mosaicing has gained increasing attention in the last few years, specially for robotic mapping applications. Due to the richness of the sensor data provided, several science fields require the creation of large-area image mosaics for further analysis. In this paper, we propose a novel and generic image mosaicing approach that can produce seamless composites under different configurations in a reasonable amount of time. Our approach is based on a multi-threaded architecture which allows us to execute the different steps of the algorithm simultaneously. To find the topology of the environment, we use a visual index based on a Bag-of-Binary-Words scheme, which is built in an online manner, and thus avoids the classic training step. Our approach is validated under different environments and camera configurations, showing that it can be used on several scenarios producing coherent results in all of them. Furthermore, the implementation of the algorithm is made public to the community.

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Section: A Mosaic Graphmentioning

confidence: 99%

Section: B Keyframe Selectionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Fast image mosaicing using incremental bags of binary words

Garcia-Fidalgo¹,

Ortiz²,

Bonnín-Pascual³

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

Self Cite

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Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments

Fang

Yang

Jain

et al. 2016

Journal of Field Robotics

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This paper addresses the problem of autonomous navigation of a micro aerial vehicle (MAV) for inspection and damage assessment inside a constrained shipboard environment, which might be perilous or inaccessible for humans, especially in emergency scenarios. The environment is GPS‐denied and visually degraded, containing narrow passageways, doorways, and small objects protruding from the wall. This causes existing two‐dimensional LIDAR, vision, or mechanical bumper‐based autonomous navigation solutions to fail. To realize autonomous navigation in such challenging environments, we first propose a robust state estimation method that fuses estimates from a real‐time odometry estimation algorithm and a particle filtering localization algorithm with other sensor information in a two‐layer fusion framework. Then, an online motion‐planning algorithm that combines trajectory optimization with a receding horizon control framework is proposed for fast obstacle avoidance. All the computations are done in real time on the onboard computer. We validate the system by running experiments under different environmental conditions in both laboratory and practical shipboard environments. The field experiment results of over 10 runs show that our vehicle can robustly navigate 20‐m‐long and only 1‐m‐wide corridors and go through a very narrow doorway (66‐cm width, only 4‐cm clearance on each side) autonomously even when it is completely dark or full of light smoke. These experiments show that despite the challenges associated with flying robustly in challenging shipboard environments, it is possible to use a MAV to autonomously fly into a confined shipboard environment to rapidly gather situational information to guide firefighting and rescue efforts.

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Introduction

Garcia-Fidalgo¹,

Ortiz²

2018

Methods for Appearance-Based Loop Closure Detection

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A mosaicing approach for vessel visual inspection using a micro-aerial vehicle

Cited by 15 publications

References 28 publications

Fast image mosaicing using incremental bags of binary words

Fast image mosaicing using incremental bags of binary words

Robust Autonomous Flight in Constrained and Visually Degraded Shipboard Environments

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