Fast and robust photomapping with an unmanned aerial vehicle (UAV)

Authors:
Heiko Bülow;Andreas Birk
Affiliations:
School of Engineering and Science, Jacobs University, Bremen, Germany;School of Engineering and Science, Jacobs University, Bremen, Germany
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

A fast and robust method for visual odometry based on the Fourier-Mellin Invariant (FMI) descriptor is presented. It extends previous FMI based approaches in two ways. First, a logarithmic representation of the spectral magnitude of the FMI descriptor is used. Second, a filter on the frequency where the shift is supposed to appear is applied. It is shown with experiments with an Unmanned Aerial Vehicle that this improved Fourier-Mellin Invariant (iFMI) method is is indeed an advancement and well suited for online visual odometry to generate large photo maps.