MGRAPH: A Multi-Graph Homography Method to Generate Incremental Mosaics in Real-Time from UAV Swarms

J.J. Ruiz, F. Caballero, and L. Merino. MGRAPH: A Multi-Graph Homography Method to Generate Incremental Mosaics in Real-Time from UAV Swarms. IEEE Robotics and Automation Letters (RA-L), 3(4):2838–2845, IEEE, 2018. The contents of this paper were also selected by the IROS'18 Program Committee for presentation at the Conference

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Abstract

During the last years, UAVs have proved to be an essential tool in the mapping industry. Furthermore, the next generation of UAVs is envisioned to work cooperatively, following the swarming/teaming concept. This article presents MGRAPH, a novel approach to generate an incremental mosaic in real-time from an UAV swarm. The algorithm is based on the generation and fusion of multiples sub-mosaics represented by homography graphs. Implementation takes advantage of parallel processing and UAV metadata to generate a georeferenced mosaic over a Geographic Information System (GIS). A comparison with other mosaicking pipelines on three datasets demonstrates that MGRAPH could be an alternative to address the generation of mosaics from a swarm of UAVs.

BibTeX Entry

@ARTICLE{ral18mgraph,
year={2018},
issn={2377-3766},
journal={IEEE Robotics and Automation Letters (RA-L)},
volume = {3},
number = {4},
title={{MGRAPH: A Multi-Graph Homography Method to Generate Incremental Mosaics in Real-Time from UAV Swarms}},
publisher={IEEE},
author={J.J. Ruiz and F. Caballero and L. Merino},
pages={2838--2845},
note={The contents of this paper were also selected by the IROS'18 Program Committee for presentation at the Conference},
doi = {10.1109/LRA.2018.2844304},
  abstract={During the last years, UAVs have proved to be an essential tool in the mapping industry. Furthermore, the next generation of UAVs is envisioned to work cooperatively, following the swarming/teaming concept. This article presents MGRAPH, a novel approach to generate an incremental mosaic in real-time from an UAV swarm. The algorithm is based on the generation and fusion of multiples sub-mosaics represented by homography graphs. Implementation takes advantage of parallel processing and UAV metadata to generate a georeferenced mosaic over a Geographic Information System (GIS). A comparison with other mosaicking pipelines on three datasets demonstrates that MGRAPH could be an alternative to address the generation of mosaics from a swarm of UAVs.},
}

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