Three-Dimensional Urban-Type Scene Representation in Vision System of Unmanned Flying Vehicles

Bielecki, Andrzej; Buratowski, Tomasz; Śmigielski, Piotr

doi:10.1007/978-3-319-07173-2_56

Cited by 6 publications

(6 citation statements)

References 7 publications

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“…The extraction of an interesting object was trivial because they were colored in such a way that they differ clearly from the background-see Section 3.2. Some modules of the system were presented in earlier authors' publications-see [7,[17][18][19]]. The whole system, however, was neither tested nor presented before.…”

Section: Methodsmentioning

confidence: 99%

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Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

Bielecki

Śmigielski²

2021

Sensors

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An algorithm designed for analysis and understanding a 3D urban-type environment by an autonomous flying agent, equipped only with a monocular vision, is presented. The algorithm is hierarchical and is based on the structural representation of the analyzed scene. Firstly, the robot observes the scene from a high altitude to build a 2D representation of a single object and a graph representation of the 2D scene. The 3D representation of each object arises as a consequence of the robot’s actions, as a result of which it projects the object’s solid on different planes. The robot assigns the obtained representations to the corresponding vertex of the created graph. The algorithm was tested by using the embodied robot operating on the real scene. The tests showed that the robot equipped with the algorithm was able not only to localize the predefined object, but also to perform safe, collision-free maneuvers close to the structures in the scene.

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Section: Methodsmentioning

confidence: 99%

“…Referring in detail to the previous authors' papers [7,[17][18][19], this paper presents the complete cognitive vision module of 3D urban-type scene representation. In previous papers, 2D representation was worked out in detail, but 3D representation was worked out only in a very prototypical version.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

Bielecki

Śmigielski²

2021

Sensors

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“…First part of this method is the search of the object selected from G 1 , in the set of objects from graph G 2 , not taking the spatial relations into consideration at the moment. For this step, the recognition algorithm described in the studies by Bielecki et al [19][20][21] is used. It allows the recognition of the shape of one object among the set of other objects, regardless of differences in scale and rotation that can be a result of different angles and distances from which the original pictures were taken by a robot.…”

Section: Search Methodsmentioning

confidence: 99%

“…Vectorization algorithm was described in detail by Bielecki et al [19][20][21] This algorithm allows to obtain a memoryefficient vector representation from preprocessed picture.…”

Section: Vectorizationmentioning

confidence: 99%

“…In this article, the module of two-dimensional scene analysis, which can be applied for use by a UAV, is proposed. The presented studies are a continuation of the investigations described in the studies by Bielecki et al [19][20][21] In particular, the detailed description of the state of the art and motivations can be found in the study by Bielecki et al 20 The problem formulation Let us recall briefly the specification of the problem formulation-see the study by Bielecki et al 20 for details. Let us consider a UAV that operates in an urban environment.…”

Section: Introductionmentioning

confidence: 96%

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Graph representation for two-dimensional scene understanding by the cognitive vision module

Bielecki

Śmigielski

2016

International Journal of Advanced Robotic Systems

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In this article, the cognitive vision module of an autonomous flying robot is studied. The problem of the scene understanding by the robot, which flies on the high altitude, is analyzed. In such conditions, the examined scene can be regarded as two-dimensional. It is assumed that the robot operates in the urban-type environment. The scene representation is stored in the neighborhood graph that collects data about the objects locations, shapes, and their spatial relations. The fragments of the scene are understood by the robot in the context of neighborhoods of the objects. It is shown that such information can be effectively used for recognition of the object, while many objects of similar shape exist in the scene. In the proposed recognition process, not only the information about the shape of the object is utilized but also the spatial relations with other objects in its close neighborhood are examined.

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Generalized Shape Language Application to Detection of a Specific Type of Bone Erosion in X-ray Images

Bielecka¹,

Korkosz

2016

Artificial Intelligence and Soft Computing

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Three-Dimensional Urban-Type Scene Representation in Vision System of Unmanned Flying Vehicles

Cited by 6 publications

References 7 publications

Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

Three-Dimensional Outdoor Analysis of Single Synthetic Building Structures by an Unmanned Flying Agent Using Monocular Vision

Graph representation for two-dimensional scene understanding by the cognitive vision module

Generalized Shape Language Application to Detection of a Specific Type of Bone Erosion in X-ray Images

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