ロボティクス応用のためのリアルタイム楕円検出
Real-Time Ellipse Detection for Robotics Applications
画像中の輪郭に楕円をフィッティングして不良検出を棄却する軽量な楕円検出・追跡アルゴリズムを提案し、移動車両へのUAV着陸タスクで有効性を示した論文。
著者: Azarakhsh Keipour, Guilherme A. S. Pereira, Sebastian Scherer
分類: cs.RO, cs.CV, eess.IV
原文アブストラクト
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good fit. The resulting detection and tracking method is lightweight enough to be used on robots' resource-limited onboard computers, can deal with lighting variations and detect the pattern even when the view is partial. The method is tested on an example application of an autonomous UAV landing on a fast-moving vehicle to show its performance indoors, outdoors, and in simulation on a real-world robotics task. The comparison with other well-known ellipse detection methods shows that our proposed algorithm outperforms other methods with the F1 score of 0.981 on a dataset with over 1500 frames. The videos of experiments, the source codes, and the collected dataset are provided with the paper at https://theairlab.org/landing-on-vehicle .
