3910 2020 2020 eng movingimage 0 2021-01-29 -- -- Challenging visual localization of an UAV while flying out of a room into a snowy environment (~ 4:50). The UAV is equipped with a 360° camera. The localization is done with OpenVSLAM. The video was recorded in Jan. 2019 at the Fire Brigade training center in Dortmund To achieve nearly real time conditions the original resolution of 5k (30 fps) was reduced to 2k (ffmpeg -i video.mp4 -vf scale=1920:-1 -crf 25 vido-small.mp4) with high compression (-crf 25). This reduce the original size from 3.2 GB to 93MB (~ 4 MBit/s which could be transmitted online via a radio link). The localization shown did not use frameskip. With a frameskip above 1 the localization fails while the UAV is flying through the window. Indoor localization can be done with a frameskip of 3 in real time. urn:nbn:de:hbz:1010-opus4-39109 false true Creative Commons - Namensnennung - Nicht kommerziell - Weitergabe unter gleichen Bedingungen Hartmut Surmann deu swd Robotik eng uncontrolled UAV deu swd Flugkörper deu swd Ortsbestimmung Informatik und Kommunikation Westfälische Hochschule Gelsenkirchen Bocholt Recklinghausen https://opus4.kobv.de/opus4-w-hs/files/3910/Challenging visual localization of an UAV-zZe-sEZU2EU-kl.mp4