Multi-plane Visual Odometry for Unmanned Aerial Vehicle Using a Thermal Camera

@article{Yan2018MultiplaneVO,
  title={Multi-plane Visual Odometry for Unmanned Aerial Vehicle Using a Thermal Camera},
  author={Xu Yan and Yingcai Bi and Zhi Gao and Mingjie Lao and Rodney Teo and Feng Lin},
  journal={2018 IEEE 14th International Conference on Control and Automation (ICCA)},
  year={2018},
  pages={588-593}
}
In this paper, a multi-plane infrared visual odometry (VO) algorithm is proposed for the navigation system of unmanned aerial vehicles (UAV) flying at a medium height for both day and night. It uses a monocular downward-looking and stabilized thermal camera, aided by a single laser beam to restore scale factor. The scale recovery is further improved by a series of comprehensive logics of taking different measurements into a multi-plane homography decomposition process, which makes the algorithm… CONTINUE READING

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