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Efficient real-time radial distortion correction for UAVs

Ornhag, Marcus Valtonen LU ; Persson, Patrik LU orcid ; Wadenback, Marten ; Astrom, Kalle LU orcid and Heyden, Anders LU orcid (2021) 2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021 p.1750-1759
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... (More)

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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Please use this url to cite or link to this publication:
author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2021 IEEE Winter Conference on Applications of Computer Vision (WACV)
pages
10 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2021 IEEE Winter Conference on Applications of Computer Vision, WACV 2021
conference location
Virtual, Online, United States
conference dates
2021-01-05 - 2021-01-09
external identifiers
  • scopus:85104186047
ISBN
978-0-7381-4266-1
978-1-6654-0477-8
DOI
10.1109/WACV48630.2021.00179
language
English
LU publication?
yes
additional info
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.
id
0b4ee6f9-f959-48ff-9f49-570f3b949305
date added to LUP
2021-11-29 08:05:28
date last changed
2025-03-09 23:06:49
@inproceedings{0b4ee6f9-f959-48ff-9f49-570f3b949305,
  abstract     = {{<p>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</p>}},
  author       = {{Ornhag, Marcus Valtonen and Persson, Patrik and Wadenback, Marten and Astrom, Kalle and Heyden, Anders}},
  booktitle    = {{2021 IEEE Winter Conference on Applications of Computer Vision (WACV)}},
  isbn         = {{978-0-7381-4266-1}},
  language     = {{eng}},
  month        = {{06}},
  pages        = {{1750--1759}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Efficient real-time radial distortion correction for UAVs}},
  url          = {{http://dx.doi.org/10.1109/WACV48630.2021.00179}},
  doi          = {{10.1109/WACV48630.2021.00179}},
  year         = {{2021}},
}