Single sensor-based 3D feature point location for a small flying robot application using one camera

摘要: Finding the location of feature points in 3D space from 2D vision data structured environments has been done successfully for years and applied effectively on industrial robots. Miniature flying robots unknown have stringent weight, space, security constraints. For such vehicles, it attempted here to reduce number sensors a single camera. At first, are detected image using Harris corner detector, measurements which then statistically corresponded across various images, knowledge vehicle’s pose onboard inertial measurement unit. First approach is that ego-motion perpendicular camera axis acceptable results point locations achieved. Next, except small region around focus expansion, forward translations along also with results, an improvement previous relevant work. The locati...