무인 시스템의 시각적 주행 거리 측정 기술 동향

다국어 초록 (Multilingual Abstract)

This paper surveys visual odometry technology for unmanned systems. Visual odometry is one of the most important technologies to implement vision-based navigation; therefore, it is widely applied to unmanned systems in recent years. Visual odometry estimates a trajectory and a pose of the system, and it could be classified into the following: 1) stereo vs. monocular, 2) feature-based or indirect vs. direct, and 3) linear vs. nonlinear based on the number of cameras, information attributes, and the optimization process, respectively. In the paper, we discuss the state-of-the-art issues of research activities related to visual odometry and summarize future direction for the research.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 비주얼 오도메트리
• III. 최신 연구 동향
• IV. 결론
• REFERENCES

참고문헌 (Reference)

1 황요섭, "적응적 이진화를 이용하여 빛의 변화에 강인한 영상거리계를 통한 위치 추정" 제어·로봇·시스템학회 22 (22): 738-744, 2016

2 최윤원, "어안 이미지 기반의 전방향 영상 SLAM을 이용한 충돌 회피" 제어·로봇·시스템학회 22 (22): 210-216, 2016

3 김현진, "무인 시스템의 자율 주행을 위한 영상기반 항법기술 동향" 한국항행학회 19 (19): 133-139, 2015

4 V. Guizilini, "Visual odometry learning for unmanned aerial vehicles" 2011

5 A. S. Huang, "Visual odometry and mapping for autonomous flight using an RGB-D camera" 2 : 2011

6 D. Scaramuzza, "Visual odometry [tutorial]" 18 (18): 80-92, 2011

7 D. Nistér, "Visual odometry" 1 : 2004

8 E. Montijano, "Vision-based distributed formation control without an external positioning system" 32 (32): 339-351, 2016

9 M. Maimone, "Two years of visual odometry on the mars exploration rovers" 24 (24): 169-186, 2007

10 J. Chen, "Tracking a Moving Target in Cluttered Environments Using a Quadrotor" 2016

11 A. Ranganathan, "Towards illumination invariance for visual localization" 2013

12 D. W. Miller, "Synchronized Position Hold, Engage, Reorient, Experimental Satellites"

13 A. Geiger, "Stereoscan : Dense 3d reconstruction in real-time" 2011

14 I. Cvišić, "Stereo odometry based on careful feature selection and tracking" 2015

15 G. Loianno, "Smartphones power flying robots" 2015

16 J. Kaiser, "Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial Aided Navigation" 2 (2): 18-25, 2017

17 P. Tanskanen, "Semi-direct EKF-based monocular visual-inertial odometry" 2015

18 L. Heng, "Self-calibration and visual slam with a multi-camera system on a micro aerial vehicle" 39 (39): 259-277, 2015

19 C. Forster, "SVO: Fast semi-direct monocular visual odometry" 2014

20 T. Naseer, "Robust visual slam across seasons" 2015

21 Pyojin Kim, "Robust visual odometry to irregular illumination changes with RGB-D camera" 2015

22 M. Bloesch, "Robust visual inertial odometry using a direct EKF-based approach" 2015

23 C. Kerl, "Robust odometry estimation for RGB-D cameras" 2013

24 M. Burri, "Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments" 2015

25 H. Oleynikova, "Reactive avoidance using embedded stereo vision for MAV flight" 2015

26 M. A. Fischler, "Random sample consensus : a paradigm for model fitting with applications to image analysis and automated cartography" 24 (24): 381-395, 1981

27 K. Jia, "ROML : A robust feature correspondence approach for matching objects in a set of images" 117 (117): 173-197, 2016

28 D. Nistér, "Preemptive RANSAC for live structure and motion estimation" 16 (16): 321-329, 2005

29 G. Klein, "Parallel tracking and mapping for small AR workspaces" 2007

30 V. Peretroukhin, "PROBE:Predictive robust estimation for visual-inertial navigation" IEEE/RSJ International Conference on Intelligent Robots and Systems 2015

31 R. Mur-Artal, "Orb-slam : a versatile and accurate monocular slam system" 31 (31): 1147-1163, 2015

32 J. Chen, "Online generation of collision-free trajectories for quadrotor flight in unknown cluttered environments" 2016

33 E. Rublee, "ORB: An efficient alternative to SIFT or SURF" 2011

34 R. Mur-Artal, "ORB-SLAM2 : an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras"

35 R. Sabzevari, "Multi-body Motion Estimation from Monocular Vehicle-Mounted Cameras" 32 (32): 638-651, 2016

36 A. J. Davison, "MonoSLAM : Real-time single camera SLAM" 29 (29): 1052-1067, 2007

37 P. J. Besl, "Method for registration of 3-D shapes"

38 J. Engel, "Large-scale direct slam with stereo cameras" 2015

39 R. A. Newcombe, "KinectFusion : Real-time dense surface mapping and tracking" 2011

40 J. Civera, "Inverse depth parametrization for monocular SLAM" 24 (24): 932-945, 2008

41 A. Alahi, "Freak: Fast retina keypoint" IEEE Conference on Computer Vision and Pattern Recognition 2012

42 G. Loianno, "Flying smartphones : Automated flight enabled by consumer electronics" 22 (22): 24-32, 2015

43 L. A. Young, "Experimental Investigation and Demonstration of Rotary-Wing Technologies for Flight in the Atmosphere of Mars" National Aeronautics and Space Administration Moffett Field Ca Ames Research Center 2002

44 G. Gallego, "Event-based, 6-DOF Camera Tracking for High-Speed Applications"

45 Deok-Hwa Kim, "Effective Background Model-Based RGB-D Dense Visual Odometry in a Dynamic Environment" 32 (32): 1565-1573, 2016

46 H. Rebecq, "EVO : A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time" 2016

47 H. Rebecq, "EMVS : Event-based Multi-View Stereo" 2016

48 J. Engel, "Direct sparse odometry"

49 V. Usenko, "Direct Visual-Inertial Odometry with Stereo Cameras" 2016

50 R. A. Newcombe, "DTAM:Dense tracking and mapping in real-time" IEEE International Conference on Computer Vision 2011

51 D. W. Marquardt, "An algorithm for least-squares estimation of nonlinear parameters" 11 (11): 431-441, 1963

52 J. Hu, "A sliding-window visual-imu odometer based on tri-focal tensor geometry" 2014

53 A. I. Mourikis, "A multi-state constraint Kalman filter for vision-aided inertial navigation" 2007

54 K. Levenberg, "A method for the solution of certain non-linear problems in least squares" 2 (2): 164-168, 1944

55 M. Blum, "A learned feature descriptor for object recognition in rgb-d data" 2012

56 J. Civera, "1‐Point RANSAC for extended Kalman filtering : Application to real‐time structure from motion and visual odometry" 27 (27): 609-631, 2010