Real-time GPS indoor for USV tracking using lookup table

Vieira, Fábio; Teodoro, Pedro; Jorge, Pedro Mendes

http://hdl.handle.net/10400.26/58976

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Authors

Vieira, Fábio

Teodoro, Pedro

Jorge, Pedro Mendes

Abstract(s)

This study introduces an approach that utilizes Lookup Tables (LUT) to enable real-time tracking of an Unmanned Surface Vehicle (USV) in an indoor setting, using a fish-eye camera. The proposed method streamlines image processing and achieves O(1) complexity, significantly reducing application run time. The paper also outlines the process of calibrating the fish-eye camera to correct image distortion, computing the homography matrix for re-projection, and obtaining a virtual top view of the camera’s field of view. The paper provides a detailed explanation of the replacement of the undistortion and re-projection steps with the new LUT method. Experimental results demonstrate a significant enhancement in the process’s run time, making it feasible for real-time tracking, regardless of the image size.

Keywords

Lookup table GPS indoor SIFT Real-time tracking USV pose estimation

URI

http://hdl.handle.net/10400.26/58976

Citation

Vieira, F., Teodoro, P., & Jorge, P. M. (2023, April 26-27). Real-time GPS indoor for USV tracking using lookup table. 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Tomar, Portugal.