Efficient real-time radial distortion correction for UAVs

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

Forskningsoutput: Kapitel i bok/rapport/Conference proceedingKonferenspaper i proceedingPeer review


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

Titel på värdpublikation 2021 IEEE Winter Conference on Applications of Computer Vision (WACV)
FörlagIEEE - Institute of Electrical and Electronics Engineers Inc.
Antal sidor10
ISBN (elektroniskt)978-1-6654-0477-8
ISBN (tryckt)978-0-7381-4266-1
StatusPublished - 2021 juni 14
Evenemang2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021 - Virtual, Online, USA
Varaktighet: 2021 jan. 52021 jan. 9


Konferens2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021
OrtVirtual, Online

Bibliografisk information

Publisher Copyright:
© 2021 IEEE.

Ämnesklassifikation (UKÄ)

  • Matematik
  • Datorseende och robotik (autonoma system)


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