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Hybrid Camera Array-Based UAV Auto-Landing on Moving UGV in GPS-Denied Environment
摘要： With the rapid development of Unmanned Aerial Vehicle (UAV) systems, the autonomous landing of a UAV on a moving Unmanned Ground Vehicle (UGV) has received extensive attention as a key technology. At present, this technology is confronted with such problems as operating in GPS-denied environments, a low accuracy of target location, the poor precision of the relative motion estimation, delayed control responses, slow processing speeds, and poor stability. To address these issues, we present a hybrid camera array-based autonomous landing UAV that can land on a moving UGV in a GPS-denied environment. We first built a UAV autonomous landing system with a hybrid camera array comprising a fisheye lens camera and a stereo camera. Then, we integrated a wide Field of View (FOV) and depth imaging for locating the UGV accurately. In addition, we employed a state estimation algorithm based on motion compensation for establishing the motion state of the ground moving UGV, including its actual motion direction and speed. Thereafter, according to the characteristics of the designed system, we derived a nonlinear controller based on the UGV motion state to ensure that the UGV and UAV maintain the same motion state, which allows autonomous landing. Finally, to evaluate the performance of the proposed system, we carried out a large number of simulations in AirSim and conducted real-world experiments. Through the qualitative and quantitative analyses of the experimental results, as well as the analysis of the time performance, we verified that the autonomous landing performance of the system in the GPS-denied environment is effective and robust.
关键词： GPS-denied environment,moving UGV,UAV autonomous landing,hybrid camera array,motion compensation
更新于2025-09-23 15:23:52
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Camera array-based digital image correlation for high-resolution strain measurement
摘要： Digital image correlation (DIC) is a well-known technique for non-contact, non-destructive, full-field deformation measurement in experimental solid mechanics. Although DIC has been widely used in science and engineering, the resolution of strain measurement with DIC is limited by imaging resolution and is much lower than that obtained with a strain gauge. To achieve a breakthrough in strain measurement using DIC, a camera array-based DIC method is proposed herein for high-resolution strain measurement. Twenty-five industrial cameras were assembled into a plane array, with each camera capturing a part of the specimen. A novel calibration-based image stitching method is proposed and was applied to these images and their corresponding displacement fields. The strain field was then calculated based on the stitched displacement fields. The use of the camera array greatly improved the measurement spatial resolution of DIC and made high-resolution strain measurement possible. Both static error analysis and four point-bending experiments were performed to demonstrate the feasibility and effectiveness of the proposed method, and a full-field strain resolution of 10 με was achieved.
关键词： displacement field stitching,camera array,Digital image correlation,image stitching,high-resolution strain measurement
更新于2025-09-23 15:21:01
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Recent Advances in Image and Video Coding || Approach to Super-Resolution Through the Concept of Multicamera Imaging
摘要： Super-resolution consists of processing an image or a set of images in order to enhance the resolution of a video sequence or a single frame. There are several methods to apply super-resolution, from which fusion super-resolution techniques are considered to be the most adequate for real-time implementations. In fusion, super-resolution and high-resolution images are constructed from several observed low-resolution images, thereby increasing the high-frequency components and removing the degradations caused by the recording process of low-resolution imaging acquisition devices. Moreover, the proposed imaging system considered in this work is based on capturing various frames from several sensors, which are attached to one another by a P × Q array. This framework is known as a multicamera system. This chapter summarizes the research conducted to apply fusion super-resolution techniques to select the most adequate frames and macroblocks together with a multicamera array. This approach optimizes the temporal and spatial correlations in the frames and reduces as a consequence the appearance of annoying artifacts, enhancing the quality of the processed high-resolution sequence and minimizing the execution time.
关键词： camera array,multicamera,fusion,super-resolution,video enhancement
更新于2025-09-23 15:19:57
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Research on Depth Estimation Method of Light Field Imaging Based on Big Data in Internet of Things From Camera Array
摘要： In recent years, optical field imaging technology has received extensive attention in the academic circle for its novel imaging characteristics of shooting first and focusing later, variable depth of field, variable viewpoint, and so on. However, the existing optical field acquisition equipment can only acquire a limited number of discrete angle signals, so image aliasing caused by under sampling of optical field angle signals reduces the quality of optical field images. Based on the camera array system as a platform, this paper studies the optical field imaging and depth estimation method based on the Big Data in Internet of Things obtained from camera array around the angle sampling characteristics of the optical field data set, and has achieved some innovative research results in the following aspects. On the basis of analyzing the characteristics of different depth clues in the optical field data set, a depth estimation method combining parallax method and focusing method is proposed. First, this paper analyzes the disparity clues and focus clues contained in the multi-view data set and the light field refocusing image set of the camera array, respectively, and points out the differences and relationships between the two depth clues extraction methods in the light field sampling frequency domain space, that is, the disparity method focuses on the energy concentration characteristics near the frequency domain spatial angle axis, while the focus method focuses on the high frequency proportion of energy distribution on the angle axis. Then, the weighted linear fusion method based on image gradient is used to fuse the two calculation results, which improves the accuracy and robustness of depth estimation. Finally, the results of depth estimation experiments on different sets of scenes show that compared with the method based on a single depth cue, the method in this paper has higher accuracy in depth calculation in discontinuous areas of scene depth and similar texture areas.
关键词： light field imaging,camera array,depth estimation,image aliasing,Big data in Internet of Things(IoT)
更新于2025-09-10 09:29:36
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Selective Light Field Refocusing for Camera Arrays Using Bokeh Rendering and Superresolution
摘要： Camera arrays provide spatial and angular information within a single snapshot. With refocusing methods, focal planes can be altered after exposure. In this letter, we propose a light field refocusing method to improve the imaging quality of camera arrays. In our method, the disparity is first estimated. Then, the unfocused region (bokeh) is rendered by using a depth-based anisotropic filter. Finally, the refocused image is produced by a reconstruction-based superresolution approach where the bokeh image is used as a regularization term. Our method can selectively refocus images with focused region being super-resolved and bokeh being esthetically rendered. Our method also enables post-adjustment of depth of field. We conduct experiments on both public and self-developed datasets. Our method achieves superior visual performance with acceptable computational cost as compared to other state-of-the-art methods.
关键词： depth of field (DoF),camera array,superresolution (SR),refocusing,light field (LF),Bokeh
更新于2025-09-09 09:28:46
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[IEEE 2018 26th European Signal Processing Conference (EUSIPCO) - Roma, Italy (2018.9.3-2018.9.7)] 2018 26th European Signal Processing Conference (EUSIPCO) - Light - fields of Circular Camera Arrays
摘要： The ray structure and sampling properties of different light-field representations inherently determine their use-cases. Currently prevalent linear data structures do not allow for joint processing of light-fields captured from multiple sides of a scene. In this paper, we review and highlight the differences in capturing and reconstruction between light-fields captured with linear and circular camera arrays. We also examine and improve the processing of light-fields captured with circular camera arrays with a focus on their use in reconstructing dense light-fields, by proposing a new resampling technique for circular light-fields. The proposed circular epipolar light-field structure creates a simple sinusoidal relation between the objects of the scene and their curves in the epipolar image, opening the way of efficient reconstruction of circular light-fields.
关键词： camera array,capture configuration,light-field
更新于2025-09-04 15:30:14