Visual homography-based pose estimation of a quadrotor using spectral features

Autores
Araguás , Gastón; Paz , Claudio; Pérez Paina , Gonzalo; Canali, Luis
Año de publicación
2016
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
Pose estimation of Unmanned Aerial Vehicles (UAV) using cameras is currently a very active task in computer and robotic vision. This is mainly because of the use of robots in GPS-denied environments. However, the use of visual information for ego-motion estimation presents several difficulties, such as features search, data association, inhomogeneous features dis tribution in the image. This work addresses these issues by the use of the so-called spectral features, and a down-looking monocular camera rigidly attached to a quadrotor. We propose a visual position and orientation estimation algorithm based on the discrete homography constraint induced by the presence of planar scenes. This homography constraint results more appropriate than the well-known epipolar constraint, which vanishes for a zero translation and loses rank in the case of planar scenes. The pose estimation algorithm is tested in a simulated dataset and compared with the corresponding ground truth.
Fil: Araguás, Gastón. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Canali, Luis. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Peer Reviewed
Fuente
IEEE Explore-2016.
Materia
Motion estimation
Quadrotor
Spectral features
Discrete homography
Nivel de accesibilidad
acceso abierto
Condiciones de uso
Attribution-NonCommercial-NoDerivatives 4.0 International
Repositorio
Repositorio Institucional Abierto (UTN)
Institución
Universidad Tecnológica Nacional
OAI Identificador
oai:ria.utn.edu.ar:20.500.12272/14317
Acceder
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network_acronym_str RIAUTN
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network_name_str Repositorio Institucional Abierto (UTN)
spelling Visual homography-based pose estimation of a quadrotor using spectral featuresAraguás , GastónPaz , ClaudioPérez Paina , GonzaloCanali, LuisMotion estimationQuadrotorSpectral featuresDiscrete homographyPose estimation of Unmanned Aerial Vehicles (UAV) using cameras is currently a very active task in computer and robotic vision. This is mainly because of the use of robots in GPS-denied environments. However, the use of visual information for ego-motion estimation presents several difficulties, such as features search, data association, inhomogeneous features dis tribution in the image. This work addresses these issues by the use of the so-called spectral features, and a down-looking monocular camera rigidly attached to a quadrotor. We propose a visual position and orientation estimation algorithm based on the discrete homography constraint induced by the presence of planar scenes. This homography constraint results more appropriate than the well-known epipolar constraint, which vanishes for a zero translation and loses rank in the case of planar scenes. The pose estimation algorithm is tested in a simulated dataset and compared with the corresponding ground truth.Fil: Araguás, Gastón. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Fil: Canali, Luis. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.Peer ReviewedIEEE2025-12-04T20:35:00Z2016info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articulopdfapplication/pdfIEEE Xplore-2016.https://hdl.handle.net/20.500.12272/1431710.1109/LA-CCI.2015.7435939IEEE Explore-2016.reponame:Repositorio Institucional Abierto (UTN)instname:Universidad Tecnológica Nacionalenginfo:eu-repo/semantics/openAccessAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Araguás, Gastón; Paz, Claudio; Pérez Paina, Gonzalo; Canali, Luis.https://creativecommons.org/licenses/by-nc-nd/4.0/2026-09-24T12:46:05Zoai:ria.utn.edu.ar:20.500.12272/14317instacron:UTNInstitucionalhttp://ria.utn.edu.ar/Universidad públicaNo correspondehttp://ria.utn.edu.ar/oaigestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:a2026-09-24 12:46:06.523Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacionalfalse
dc.title.none.fl_str_mv Visual homography-based pose estimation of a quadrotor using spectral features
title Visual homography-based pose estimation of a quadrotor using spectral features
spellingShingle Visual homography-based pose estimation of a quadrotor using spectral features
Araguás , Gastón
Motion estimation
Quadrotor
Spectral features
Discrete homography
title_short Visual homography-based pose estimation of a quadrotor using spectral features
title_full Visual homography-based pose estimation of a quadrotor using spectral features
title_fullStr Visual homography-based pose estimation of a quadrotor using spectral features
title_full_unstemmed Visual homography-based pose estimation of a quadrotor using spectral features
title_sort Visual homography-based pose estimation of a quadrotor using spectral features
dc.creator.none.fl_str_mv Araguás , Gastón
Paz , Claudio
Pérez Paina , Gonzalo
Canali, Luis
author Araguás , Gastón
author_facet Araguás , Gastón
Paz , Claudio
Pérez Paina , Gonzalo
Canali, Luis
author_role author
author2 Paz , Claudio
Pérez Paina , Gonzalo
Canali, Luis
author2_role author
author
author
dc.subject.none.fl_str_mv Motion estimation
Quadrotor
Spectral features
Discrete homography
topic Motion estimation
Quadrotor
Spectral features
Discrete homography
dc.description.none.fl_txt_mv Pose estimation of Unmanned Aerial Vehicles (UAV) using cameras is currently a very active task in computer and robotic vision. This is mainly because of the use of robots in GPS-denied environments. However, the use of visual information for ego-motion estimation presents several difficulties, such as features search, data association, inhomogeneous features dis tribution in the image. This work addresses these issues by the use of the so-called spectral features, and a down-looking monocular camera rigidly attached to a quadrotor. We propose a visual position and orientation estimation algorithm based on the discrete homography constraint induced by the presence of planar scenes. This homography constraint results more appropriate than the well-known epipolar constraint, which vanishes for a zero translation and loses rank in the case of planar scenes. The pose estimation algorithm is tested in a simulated dataset and compared with the corresponding ground truth.
Fil: Araguás, Gastón. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Paz, Claudio. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Pérez Paina, Gonzalo. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Fil: Canali, Luis. Universidad Tecnológica Nacional. Facultad Regional Córdoba. Centro de Investigación en Informática para la Ingeniería; Argentina.
Peer Reviewed
description Pose estimation of Unmanned Aerial Vehicles (UAV) using cameras is currently a very active task in computer and robotic vision. This is mainly because of the use of robots in GPS-denied environments. However, the use of visual information for ego-motion estimation presents several difficulties, such as features search, data association, inhomogeneous features dis tribution in the image. This work addresses these issues by the use of the so-called spectral features, and a down-looking monocular camera rigidly attached to a quadrotor. We propose a visual position and orientation estimation algorithm based on the discrete homography constraint induced by the presence of planar scenes. This homography constraint results more appropriate than the well-known epipolar constraint, which vanishes for a zero translation and loses rank in the case of planar scenes. The pose estimation algorithm is tested in a simulated dataset and compared with the corresponding ground truth.
publishDate 2016
dc.date.none.fl_str_mv 2016
2025-12-04T20:35:00Z
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv IEEE Xplore-2016.
https://hdl.handle.net/20.500.12272/14317
10.1109/LA-CCI.2015.7435939
identifier_str_mv IEEE Xplore-2016.
10.1109/LA-CCI.2015.7435939
url https://hdl.handle.net/20.500.12272/14317
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Araguás, Gastón; Paz, Claudio; Pérez Paina, Gonzalo; Canali, Luis.
https://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
Araguás, Gastón; Paz, Claudio; Pérez Paina, Gonzalo; Canali, Luis.
https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.format.none.fl_str_mv pdf
application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv IEEE Explore-2016.
reponame:Repositorio Institucional Abierto (UTN)
instname:Universidad Tecnológica Nacional
reponame_str Repositorio Institucional Abierto (UTN)
collection Repositorio Institucional Abierto (UTN)
instname_str Universidad Tecnológica Nacional
repository.name.fl_str_mv Repositorio Institucional Abierto (UTN) - Universidad Tecnológica Nacional
repository.mail.fl_str_mv gestionria@rec.utn.edu.ar; fsuarez@rec.utn.edu.ar
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score 13.24418

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