TY - GEN
T1 - Real-time restoration of aerial inspection images by recognizing and removing passive rotating shell of a UAV
AU - Okada, Yoshito
AU - Ishii, Takuma
AU - Ohno, Kazunori
AU - Tadokoro, Satoshi
PY - 2016/11/28
Y1 - 2016/11/28
N2 - This paper presents a real-time image restoration method for aerial inspection images that are degraded by the appearance of a passive rotating shell of an unmanned aerial vehicle (UAV). Only images are required as the input. The method mainly consists of feature-based object detection for joints of the UAV shell, outlier rejection based on a sample consensus (SAC) approach and the geometrical model of the shell, reconstruction of the entire region that the shell appears in, and inpainting of the shell. Not only a pure algorithm for general UAVs with passive rotating shells but also an implementation specialized for a UAV that we have been developing are presented. The successfully implemented algorithm was evaluated for actual inspection flights under different conditions. The average rate of successful image restoration was 81.1% at 4.3 fps.
AB - This paper presents a real-time image restoration method for aerial inspection images that are degraded by the appearance of a passive rotating shell of an unmanned aerial vehicle (UAV). Only images are required as the input. The method mainly consists of feature-based object detection for joints of the UAV shell, outlier rejection based on a sample consensus (SAC) approach and the geometrical model of the shell, reconstruction of the entire region that the shell appears in, and inpainting of the shell. Not only a pure algorithm for general UAVs with passive rotating shells but also an implementation specialized for a UAV that we have been developing are presented. The successfully implemented algorithm was evaluated for actual inspection flights under different conditions. The average rate of successful image restoration was 81.1% at 4.3 fps.
UR - http://www.scopus.com/inward/record.url?scp=85006337548&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2016.7759735
DO - 10.1109/IROS.2016.7759735
M3 - Conference contribution
AN - SCOPUS:85006337548
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5006
EP - 5012
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -