Myung Hwangbo

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When a camera rotates rapidly or shakes severely, a conventional KLT (Kanade–Lucas–Tomasi) feature tracker becomes vulnerable to large inter-image appearance changes. Tracking fails in the KLT optimization step, mainly due to an inadequate initial condition equal to final image warping in the previous frame. In this paper, we present a gyro-aided feature(More)
We present a drift-free attitude estimation method that uses image line segments for the correction of accumulated errors in integrated gyro rates when an unmanned aerial vehicle (UAV) operates in urban areas. Since man-made environments generally exhibit strong regularity in structure, a set of line segments that are either parallel or orthogonal to the(More)
We present an easy-to-use calibration method for MEMS inertial sensor units based on the factorization method which was originally invented for shape-and-motion recovery in computer vision. Our method requires no explicit knowledge of individual motions applied during calibration procedure. Instead a set of motion constraints in the form of an inner-product(More)
Estimating motions of a multi-camera system which may not have overlapping fields of view is generally complex and computationally expensive because of the non-zero offset between each camera’s center. It is conceivable that if we can assume that multiple cameras share a single optical center, and thus can be modeled as a spherical imaging system, motion(More)
This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the(More)
We present an efficient two-phase approach to motion planning for small fixed-wing unmanned aerial vehicles (UAVs) navigating in complex 3D air slalom environments. A coarse global motion planner first computes a kinematically feasible obstacle-free path in a discretized 3D workspace which roughly satisfies the kinematic constraints of the UAV. Given a(More)
We propose a novel inertial-aided KLT feature tracking method robust to camera ego-motions. The conventional KLT uses images only and its working condition is inherently limited to small appearance change between images. When big optical flows are induced by a camera-ego motion, an inertial sensor attached to the camera can provide a good prediction to(More)
Feature tracking is one of fundamental steps in many computer vision algorithms and the KLT (Kanade-Lucas-Tomasi) method has been successfully used for optical flow estimation. There has been also much effort to implement KLT on GPUs to increase the speed with more features. Many implementations have chosen the translation model to describe a template(More)