A Comparative Study of Preprocessing Techniques for Marker Based Localization in UAVs
19 Dec 2016-pp 419-428
TL;DR: The authors explore template matching, phase correlation and contour-based marker detection methods as preprocessors for landmark extraction for the localization problem, and compare performance of the three methods by embedding them in a Kalman filter framework running on a simulated quadrotor in V-REP.
Abstract: Localization techniques involve estimating the robot’s pose and uncertainty with respect to a world map by making use of sensors available on the robotic platform being used. Using the camera as a sensor involves preprocessing images to get range and bearing measurements of landmarks visible in the image with respect to the local frame of the camera. In this paper we explore template matching, phase correlation and contour based marker detection methods as preprocessors for landmark extraction for the localization problem. We compare performance of the three methods by embedding them in a Kalman filter framework running on a simulated quadrotor in V-REP.
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01 Jul 2020
TL;DR: This paper aims to design an Unmanned Air Vehicle (GEUAV) for delivery purposes in supply chains (SCs) in Egypt, using a green energy source, and finds GEUAV is more efficient delivery mode for distribution purposes in the supply chain.
Abstract: In supply chain context, cargo are handled along the chain by a number of entities with varying responsibilities, including aircraft operators, express carriers, postal operators, regulated agents, consignors, consignees and ground handlers. Air cargo transport enables nations, regardless of their geographic location, to efficiently connect to distant markets and global supply chains in a speedy and reliable manner. This is vital for implementing best international business practices, including just-in-time inventory management and build-to-order production. The provision of required service level by customers is influenced by distributing products at the right time, to the right place and in the right condition. Hence, the delivery drone presents a viable option to support the initiative of maintaining service levels while reducing cost. For this purpose, this paper aims to design an Unmanned Air Vehicle (GEUAV) for delivery purposes in supply chains (SCs) in Egypt, using a green energy source. One of the main findings is current Proton Exchange Membrane fuel cells (PEMFC) cannot meet the supply chain requirements of fast dynamic response time, high peak power, low cost, and robustness. The hybrid the fuel cells with an auxiliary energy source, like Li-Ion batteries, is recommended to increase the overall energy efficiency of the Electronic Unmanned Air Vehicle (EUAV) supply system. Also, many green energy sources, such as solar and fuel cells, are available, and each has its advantages and disadvantages. Based on the requirements and limitations of air supply applications, fuel cells, and solar cells are recommended as primary sources of power for aircraft engines. On the other hand, GEUAV is more efficient delivery mode for distribution purposes in the supply chain.
Cites background from "A Comparative Study of Preprocessin..."
...Later, the unmanned pilots appeared after the first World War when the Sperry Gyroscope Company developed the Hewitt Sperry Automated Airplane which was the early version of today’s aerial drones (Raj et al., 2016)....
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References
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TL;DR: There is a natural uncertainty principle between detection and localization performance, which are the two main goals, and with this principle a single operator shape is derived which is optimal at any scale.
Abstract: This paper describes a computational approach to edge detection. The success of the approach depends on the definition of a comprehensive set of goals for the computation of edge points. These goals must be precise enough to delimit the desired behavior of the detector while making minimal assumptions about the form of the solution. We define detection and localization criteria for a class of edges, and present mathematical forms for these criteria as functionals on the operator impulse response. A third criterion is then added to ensure that the detector has only one response to a single edge. We use the criteria in numerical optimization to derive detectors for several common image features, including step edges. On specializing the analysis to step edges, we find that there is a natural uncertainty principle between detection and localization performance, which are the two main goals. With this principle we derive a single operator shape which is optimal at any scale. The optimal detector has a simple approximate implementation in which edges are marked at maxima in gradient magnitude of a Gaussian-smoothed image. We extend this simple detector using operators of several widths to cope with different signal-to-noise ratios in the image. We present a general method, called feature synthesis, for the fine-to-coarse integration of information from operators at different scales. Finally we show that step edge detector performance improves considerably as the operator point spread function is extended along the edge.
28,073 citations
04 Jan 1998
TL;DR: In contrast with filters that operate on the three bands of a color image separately, a bilateral filter can enforce the perceptual metric underlying the CIE-Lab color space, and smooth colors and preserve edges in a way that is tuned to human perception.
Abstract: Bilateral filtering smooths images while preserving edges, by means of a nonlinear combination of nearby image values. The method is noniterative, local, and simple. It combines gray levels or colors based on both their geometric closeness and their photometric similarity, and prefers near values to distant values in both domain and range. In contrast with filters that operate on the three bands of a color image separately, a bilateral filter can enforce the perceptual metric underlying the CIE-Lab color space, and smooth colors and preserve edges in a way that is tuned to human perception. Also, in contrast with standard filtering, bilateral filtering produces no phantom colors along edges in color images, and reduces phantom colors where they appear in the original image.
8,738 citations
01 Apr 1985-Graphical Models \/graphical Models and Image Processing \/computer Vision, Graphics, and Image Processing
TL;DR: Two border following algorithms are proposed for the topological analysis of digitized binary images, which determine the surroundness relations among the borders of a binary image and follow only the outermost borders.
Abstract: Two border following algorithms are proposed for the topological analysis of digitized binary images. The first one determines the surroundness relations among the borders of a binary image. Since the outer borders and the hole borders have a one-to-one correspondence to the connected components of 1-pixels and to the holes, respectively, the proposed algorithm yields a representation of a binary image, from which one can extract some sort of features without reconstructing the image. The second algorithm, which is a modified version of the first, follows only the outermost borders (i.e., the outer borders which are not surrounded by holes). These algorithms can be effectively used in component counting, shrinking, and topological structural analysis of binary images, when a sequential digital computer is used.
2,303 citations
TL;DR: A fiducial marker system specially appropriated for camera pose estimation in applications such as augmented reality and robot localization is presented and an algorithm for generating configurable marker dictionaries following a criterion to maximize the inter-marker distance and the number of bit transitions is proposed.
1,758 citations