Real-time restoration of aerial inspection images by recognizing and removing passive rotating shell of a UAV
Yoshito Okada, Takuma Ishii, Kazunori Ohno, Satoshi Tadokoro
Abstract
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.
BibTeX
@inproceedings{iros2016_realtimerestorat,
title = {Real-time restoration of aerial inspection images by recognizing and removing passive rotating shell of a UAV},
author = {Yoshito Okada and Takuma Ishii and Kazunori Ohno and Satoshi Tadokoro},
booktitle = {IROS 2016},
year = {2016}
}