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Challenging visual localization of an UAV

  • Challenging visual localization of an UAV while flying out of a room into a snowy environment (~ 4:50). The UAV is equipped with a 360° camera. The localization is done with OpenVSLAM. The video was recorded in Jan. 2019 at the Fire Brigade training center in Dortmund To achieve nearly real time conditions the original resolution of 5k (30 fps) was reduced to 2k (ffmpeg -i video.mp4 -vf scale=1920:-1 -crf 25 vido-small.mp4) with high compression (-crf 25). This reduce the original size from 3.2 GB to 93MB (~ 4 MBit/s which could be transmitted online via a radio link). The localization shown did not use frameskip. With a frameskip above 1 the localization fails while the UAV is flying through the window. Indoor localization can be done with a frameskip of 3 in real time.

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Author:Hartmut Surmann
Document Type:video
Date of Publication (online):2021/01/29
Year of first Publication:2020
Publishing Institution:Westfälische Hochschule Gelsenkirchen Bocholt Recklinghausen
Release Date:2021/01/29
GND Keyword:Flugkörper; Ortsbestimmung; Robotik
Departments / faculties:Fachbereiche / Informatik und Kommunikation
Licence (German):License LogoCreative Commons - Namensnennung - Nicht kommerziell - Weitergabe unter gleichen Bedingungen

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