Efficient real-time radial distortion correction for UAVs

Marcus Valtonen Ornhag; Patrik Persson; Marten Wadenback; Kalle Astrom; Anders Heyden

doi:10.1109/WACV48630.2021.00179

Efficient real-time radial distortion correction for UAVs

Marcus Valtonen Ornhag, Patrik Persson, Marten Wadenback, Kalle Astrom, Anders Heyden

Linköping University

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures redundant, thus allowing for exchange of optics extemporaneously. By utilizing the IMU data, the cameras can be aligned with the gravity direction. This allows us to work with fewer degrees of freedom, and opens up for further intrinsic calibration. We propose a fast and robust minimal solver for simultaneously estimating the focal length, radial distortion profile and motion parameters from homographies. The proposed solver is tested on both synthetic and real data, and perform better or on par with state-of-the-art methods relying on pre-calibration procedures. Code available at: https://github.com/marcusvaltonen/HomLib.1

Original language	English
Title of host publication	2021 IEEE Winter Conference on Applications of Computer Vision (WACV)
Publisher	IEEE - Institute of Electrical and Electronics Engineers Inc.
Pages	1750-1759
Number of pages	10
ISBN (Electronic)	978-1-6654-0477-8
ISBN (Print)	978-0-7381-4266-1
DOIs	https://doi.org/10.1109/WACV48630.2021.00179
Publication status	Published - 2021 Jun 14
Event	2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021 - Virtual, Online, United States Duration: 2021 Jan 5 → 2021 Jan 9

Conference

Conference	2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021
Country/Territory	United States
City	Virtual, Online
Period	2021/01/05 → 2021/01/09

Bibliographical note

Funding Information:
1 This work was supported by the Swedish Research Council (grant no. 2015-05639), the strategic research projects ELLIIT and eSSENCE, the Swedish Foundation for Strategic Research project, Semantic Mapping and Visual Navigation for Smart Robots (grant no. RIT15-0038), and Wal-lenberg AI, Autonomous Systems and Software Program (WASP) funded by Knut and Alice Wallenberg Foundation.

Publisher Copyright:
© 2021 IEEE.

Subject classification (UKÄ)

Mathematics
Computer Vision and Robotics (Autonomous Systems)

Access to Document

10.1109/WACV48630.2021.00179

Cite this

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title = "Efficient real-time radial distortion correction for UAVs",

abstract = "In this paper we present a novel algorithm for onboard radial distortion correction for unmanned aerial vehicles (UAVs) equipped with an inertial measurement unit (IMU), that runs in real-time. This approach makes calibration procedures redundant, thus allowing for exchange of optics extemporaneously. By utilizing the IMU data, the cameras can be aligned with the gravity direction. This allows us to work with fewer degrees of freedom, and opens up for further intrinsic calibration. We propose a fast and robust minimal solver for simultaneously estimating the focal length, radial distortion profile and motion parameters from homographies. The proposed solver is tested on both synthetic and real data, and perform better or on par with state-of-the-art methods relying on pre-calibration procedures. Code available at: https://github.com/marcusvaltonen/HomLib.1",

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Ornhag, MV, Persson, P, Wadenback, M, Astrom, K & Heyden, A 2021, Efficient real-time radial distortion correction for UAVs. in 2021 IEEE Winter Conference on Applications of Computer Vision (WACV). IEEE - Institute of Electrical and Electronics Engineers Inc., pp. 1750-1759, 2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021, Virtual, Online, United States, 2021/01/05. https://doi.org/10.1109/WACV48630.2021.00179

Efficient real-time radial distortion correction for UAVs. / Ornhag, Marcus Valtonen; Persson, Patrik; Wadenback, Marten et al.

2021 IEEE Winter Conference on Applications of Computer Vision (WACV). IEEE - Institute of Electrical and Electronics Engineers Inc., 2021. p. 1750-1759.

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

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N1 - Funding Information: 1 This work was supported by the Swedish Research Council (grant no. 2015-05639), the strategic research projects ELLIIT and eSSENCE, the Swedish Foundation for Strategic Research project, Semantic Mapping and Visual Navigation for Smart Robots (grant no. RIT15-0038), and Wal-lenberg AI, Autonomous Systems and Software Program (WASP) funded by Knut and Alice Wallenberg Foundation. Publisher Copyright: © 2021 IEEE.

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Efficient real-time radial distortion correction for UAVs

Abstract

Conference

Bibliographical note

Subject classification (UKÄ)

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Robust Estimation of Motion Parameters and Scene Geometry: Minimal Solvers and Convexification of Regularisers for Low-Rank Approximation

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