Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array

Colin Greatwood; Laurie Bose; Tom Richardson; Walterio Mayol-Cuevas; Jianing Chen; Stephen J. Carey; Piotr Dudek

doi:10.1109/IROS.2018.8594500

Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array

Colin Greatwood, Laurie Bose, Tom Richardson, Walterio Mayol-Cuevas, Jianing Chen, Stephen J. Carey, Piotr Dudek

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

5 Citations (Scopus)

238 Downloads (Pure)

Abstract

This paper presents a visual odometry approach using a Pixel Processor Array (PPA) camera, specifically, the SCAMP-5 vision chip. In this device, each pixel is capable of storing data and performing computation, enabling a variety of computer vision tasks to be carried out directly upon the sensor itself. In this work the PPA performs HDR edge detection, perspective correction and image alignment based odometry, allowing the position and heading of a MAV to be tracked at several hundred frames per second.

We evaluate our PPA based approach by direct comparison with a motion capture system for a variety of trajectories. These include rapid accelerations that would incur significant motion blur at low frame rates, and lighting conditions that would typically lead to under or over exposure of image detail. Such challenging conditions would often lead to unusable images when relying on traditional image sensors.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	987-994
Number of pages	8
ISBN (Electronic)	9781538680940
ISBN (Print)	9781538680957
DOIs	https://doi.org/10.1109/IROS.2018.8594500
Publication status	E-pub ahead of print - 7 Jan 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

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10.1109/IROS.2018.8594500Licence: Unspecified

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This is the accepted author manuscript (AAM). The final published version (version of record) is available online via IEEE at https://doi.org/10.1109/IROS.2018.8594500 . Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 4.63 MBLicence: Other

1 Finished

Vision Sensors for Agile Autonomous Exploration
Mayol-Cuevas, W. W.
1/08/15 → 31/01/21
Project: Research

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Greatwood, C., Bose, L., Richardson, T., Mayol-Cuevas, W., Chen, J., Carey, S. J., & Dudek, P. (2019). Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 987-994). [8594500] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/IROS.2018.8594500

Greatwood, Colin ; Bose, Laurie ; Richardson, Tom ; Mayol-Cuevas, Walterio ; Chen, Jianing ; Carey, Stephen J. ; Dudek, Piotr. / Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers (IEEE), 2019. pp. 987-994 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array",

abstract = "This paper presents a visual odometry approach using a Pixel Processor Array (PPA) camera, specifically, the SCAMP-5 vision chip. In this device, each pixel is capable of storing data and performing computation, enabling a variety of computer vision tasks to be carried out directly upon the sensor itself. In this work the PPA performs HDR edge detection, perspective correction and image alignment based odometry, allowing the position and heading of a MAV to be tracked at several hundred frames per second. We evaluate our PPA based approach by direct comparison with a motion capture system for a variety of trajectories. These include rapid accelerations that would incur significant motion blur at low frame rates, and lighting conditions that would typically lead to under or over exposure of image detail. Such challenging conditions would often lead to unusable images when relying on traditional image sensors.",

author = "Colin Greatwood and Laurie Bose and Tom Richardson and Walterio Mayol-Cuevas and Jianing Chen and Carey, {Stephen J.} and Piotr Dudek",

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Greatwood, C, Bose, L, Richardson, T , Mayol-Cuevas, W, Chen, J, Carey, SJ & Dudek, P 2019, Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594500, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), pp. 987-994. https://doi.org/10.1109/IROS.2018.8594500

Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array. / Greatwood, Colin; Bose, Laurie; Richardson, Tom ; Mayol-Cuevas, Walterio; Chen, Jianing; Carey, Stephen J.; Dudek, Piotr.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers (IEEE), 2019. p. 987-994 8594500 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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AU - Greatwood, Colin

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AU - Carey, Stephen J.

AU - Dudek, Piotr

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AB - This paper presents a visual odometry approach using a Pixel Processor Array (PPA) camera, specifically, the SCAMP-5 vision chip. In this device, each pixel is capable of storing data and performing computation, enabling a variety of computer vision tasks to be carried out directly upon the sensor itself. In this work the PPA performs HDR edge detection, perspective correction and image alignment based odometry, allowing the position and heading of a MAV to be tracked at several hundred frames per second. We evaluate our PPA based approach by direct comparison with a motion capture system for a variety of trajectories. These include rapid accelerations that would incur significant motion blur at low frame rates, and lighting conditions that would typically lead to under or over exposure of image detail. Such challenging conditions would often lead to unusable images when relying on traditional image sensors.

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Greatwood C, Bose L, Richardson T , Mayol-Cuevas W, Chen J, Carey SJ et al. Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers (IEEE). 2019. p. 987-994. 8594500. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594500

Perspective Correcting Visual Odometry for Agile MAVs using a Pixel Processor Array

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Vision Sensors for Agile Autonomous Exploration

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