Scene Change Detection

Using Optical Flow information induced in the camera to detect changes in the view as the small helicopter flies through the environment.
Once a change has been detected, a node is created at that point and the system checks using a Bag-of-words approach if this location is new or has been visited before. If it has been visited before a loop closure is detected in the topological map.

Category:

Science & Technology

Tags:

• robots
• uavs
• optical flow
• loop closure
• topological mapping
• localization

[sbork]

nice dude, the heli's vibration doesn't affect the optical flow scene change detection..?

[nourani]

@sbork hey man,

this is the first time i'm working on UAVs and I was really excited to see how the vibrations would affect the optical flow.

It turned out that they don't affect it at all. That said, the two UAVs i used, this quad-rotor and a co-axial, are both extremely stable. On top of that I use some filtering that makes it even better.

The paper describing how it works is not published yet but come back in a couple of months and check it out

[harriettpeterkin]

like your clip .. keep it up =) thanks