1. Zürich Autonomous Systems Lab Rainer Voigt 28. September 2011

2. Autonomous Systems Lab Zürich Inspection of e.g. Thermal Power Plants Boilers up to 100 meters high Up to 1 Mio USD per day of outage UAV for visual pre-inspection Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation2

3. Autonomous Systems Lab Zürich Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation3 HDR, Global Shutter CMOS Sensors 3x Gyroscopes 3-Axis Accelerometer High Power LEDs Front-Looking Stereo-IMU Rig Motion Estimation with Sparse Features Tight Coupling of Visual and Inertial Cues for Feature Disambiguation on repetitive Texture

4. Autonomous Systems Lab Zürich Extract key points Compute descriptors Associate features of left and right image Triangulate features to obtain 3D points Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation4

5. Autonomous Systems Lab Zürich Extract key points Compute descriptors Associate features of left and right image Triangulate features to obtain 3D points Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation5

6. Autonomous Systems Lab Zürich Capture next stereo shot Compute key points, descriptors and 3D points Predict feature locations via IMU motion constraints Associate features between both stereo pairs RANSAC outlier rejection Refinement via bundle adjustment Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation6

7. Autonomous Systems Lab Zürich Introduction | Motion Estimation | Results | Video Rainer Voigt – Robust Embedded Egomotion Estimation7 Robust real-time motion estimation on single core Intel Atom CPU Vehicle stabilization

8. Introduction | Visual Egomotion | Vision Covariance | EKF | Feature Prediction | Results | Outlook 8