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HorizonNet for visu...
HorizonNet for visual terrain navigation
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- Grelsson, Bertil, 1965- (author)
- Linköpings universitet,Datorseende,Tekniska fakulteten
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- Robinson, Andreas, 1975- (author)
- Linköpings universitet,Datorseende,Tekniska fakulteten
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- Felsberg, Michael, 1974- (author)
- Linköpings universitet,Datorseende,Tekniska fakulteten
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- Khan, Fahad Shahbaz, 1983- (author)
- Linköpings universitet,Datorseende,Tekniska fakulteten
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(creator_code:org_t)
- Institute of Electrical and Electronics Engineers (IEEE), 2018
- 2018
- English.
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In: Proceedings of 2018 IEEE International Conference on Image Processing, Applications and Systems (IPAS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781728102474 - 9781728102467 - 9781728102481 ; , s. 149-155
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https://urn.kb.se/re...
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Abstract
Subject headings
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- This paper investigates the problem of position estimation of unmanned surface vessels (USVs) operating in coastal areas or in the archipelago. We propose a position estimation method where the horizon line is extracted in a 360 degree panoramic image around the USV. We design a CNN architecture to determine an approximate horizon line in the image and implicitly determine the camera orientation (the pitch and roll angles). The panoramic image is warped to compensate for the camera orientation and to generate an image from an approximately level camera. A second CNN architecture is designed to extract the pixelwise horizon line in the warped image. The extracted horizon line is correlated with digital elevation model (DEM) data in the Fourier domain using a MOSSE correlation filter. Finally, we determine the location of the maximum correlation score over the search area to estimate the position of the USV. Comprehensive experiments are performed in a field trial in the archipelago. Our approach provides promising results by achieving position estimates with GPS-level accuracy.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Signalbehandling (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Signal Processing (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Keyword
- position estimation
- horizon
- registration
- cnn
- convolutional neural networks
- cameras
- correlation
- Global Positioning System
- sea measurements
- digital elevation model
- dem
Publication and Content Type
- ref (subject category)
- kon (subject category)
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