Publicação
Real-time GPS indoor for USV tracking using lookup table
| Resumo: | This study introduces an approach that utilizes Lookup Tables (LUT) to enable real-time tracking of an Unmanned Surface Vehicle (USV) in an indoor setting, using a fish-eye camera. The proposed method streamlines image processing and achieves O(1) complexity, significantly reducing application run time. The paper also outlines the process of calibrating the fish-eye camera to correct image distortion, computing the homography matrix for re-projection, and obtaining a virtual top view of the camera’s field of view. The paper provides a detailed explanation of the replacement of the undistortion and re-projection steps with the new LUT method. Experimental results demonstrate a significant enhancement in the process’s run time, making it feasible for real-time tracking, regardless of the image size. |
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| Autores principais: | Vieira, Fábio |
| Outros Autores: | Teodoro, Pedro; Jorge, Pedro Mendes |
| Assunto: | Lookup table GPS indoor SIFT Real-time tracking USV pose estimation |
| Ano: | 2023 |
| País: | Portugal |
| Tipo de documento: | comunicação não publicada nas atas da conferência |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Escola Superior Náutica Infante D. Henrique |
| Idioma: | inglês |
| Origem: | Escola Superior Náutica Infante D. Henrique |
| Resumo: | This study introduces an approach that utilizes Lookup Tables (LUT) to enable real-time tracking of an Unmanned Surface Vehicle (USV) in an indoor setting, using a fish-eye camera. The proposed method streamlines image processing and achieves O(1) complexity, significantly reducing application run time. The paper also outlines the process of calibrating the fish-eye camera to correct image distortion, computing the homography matrix for re-projection, and obtaining a virtual top view of the camera’s field of view. The paper provides a detailed explanation of the replacement of the undistortion and re-projection steps with the new LUT method. Experimental results demonstrate a significant enhancement in the process’s run time, making it feasible for real-time tracking, regardless of the image size. |
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