Vision-based Software Tool System for Position Estimation Using a Smartphone

Context: Current smartphone models have a very interesting set of sensors such as cameras, IMUs, GPS, and environmental variables. This combination of sensors motivates the use of smartphones in scientific and service applications. One of these applications is precision agriculture, specifically dro...

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Autores principales:	Julio Urbano López, Eval Bladimir Bacca Cortes, José Buitrago Molina
Formato:	article
Lenguaje:	ES
Publicado:	Universidad Distrital Francisco José de Caldas 2021
Materias:	smartphone position estimation computer vision Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/2843e8a56ef142fbbb12a7a803a7ca07
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spelling	oai:doaj.org-article:2843e8a56ef142fbbb12a7a803a7ca072021-11-04T23:54:31ZVision-based Software Tool System for Position Estimation Using a Smartphone0121-750X2344-839310.14483/23448393.16562https://doaj.org/article/2843e8a56ef142fbbb12a7a803a7ca072021-05-01T00:00:00Zhttps://revistas.udistrital.edu.co/index.php/reving/article/view/16562https://doaj.org/toc/0121-750Xhttps://doaj.org/toc/2344-8393Context: Current smartphone models have a very interesting set of sensors such as cameras, IMUs, GPS, and environmental variables. This combination of sensors motivates the use of smartphones in scientific and service applications. One of these applications is precision agriculture, specifically drone position estimation using computer vision in GPS-denied environments for remote crop measurements. Method: This work presents the development of EVP, a vision-based position estimation system using a modern smartphone and computer vision methods. EVP consists of two software applications: an Android app (mobile station) running on a smartphone capable of controlling the drone’s flight, acquiring images, and transmitting them through a wireless network; and another application (base station) running on a Linux-based computer capable of receiving the images, processing them and running the position estimation algorithms using the acquired images. In this work, the mobile station is placed in a quadcopter. Using EVP, users can configure the mobile and base station software, execute the vision-based position estimation method, observe position graph results on the base station, and store sensor data in a database. Results: EVP was tested in three field tests: an indoor environment, an open field flight, and a field test over the Engineering Department’s square at Universidad del Valle. The root mean square errors obtained in XY were 0,166 m, 2,8 m, and 1,4 m, respectively, and they were compared against the GPS-RTK measurements. Conclusions: As a result, a vision-based position estimation system called EVP was developed and tested in realworld experiments. This system can be used in GPS-denied environments to perform tasks such as 3D mapping, pick-up and delivery of goods, object tracking, among others.Julio Urbano LópezEval Bladimir Bacca CortesJosé Buitrago MolinaUniversidad Distrital Francisco José de Caldasarticlesmartphoneposition estimationcomputer visionEngineering (General). Civil engineering (General)TA1-2040ESIngeniería , Vol 26, Iss 2, Pp 284-305 (2021)
institution	DOAJ
collection	DOAJ
language	ES
topic	smartphone position estimation computer vision Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	smartphone position estimation computer vision Engineering (General). Civil engineering (General) TA1-2040 Julio Urbano López Eval Bladimir Bacca Cortes José Buitrago Molina Vision-based Software Tool System for Position Estimation Using a Smartphone
description	Context: Current smartphone models have a very interesting set of sensors such as cameras, IMUs, GPS, and environmental variables. This combination of sensors motivates the use of smartphones in scientific and service applications. One of these applications is precision agriculture, specifically drone position estimation using computer vision in GPS-denied environments for remote crop measurements. Method: This work presents the development of EVP, a vision-based position estimation system using a modern smartphone and computer vision methods. EVP consists of two software applications: an Android app (mobile station) running on a smartphone capable of controlling the drone’s flight, acquiring images, and transmitting them through a wireless network; and another application (base station) running on a Linux-based computer capable of receiving the images, processing them and running the position estimation algorithms using the acquired images. In this work, the mobile station is placed in a quadcopter. Using EVP, users can configure the mobile and base station software, execute the vision-based position estimation method, observe position graph results on the base station, and store sensor data in a database. Results: EVP was tested in three field tests: an indoor environment, an open field flight, and a field test over the Engineering Department’s square at Universidad del Valle. The root mean square errors obtained in XY were 0,166 m, 2,8 m, and 1,4 m, respectively, and they were compared against the GPS-RTK measurements. Conclusions: As a result, a vision-based position estimation system called EVP was developed and tested in realworld experiments. This system can be used in GPS-denied environments to perform tasks such as 3D mapping, pick-up and delivery of goods, object tracking, among others.
format	article
author	Julio Urbano López Eval Bladimir Bacca Cortes José Buitrago Molina
author_facet	Julio Urbano López Eval Bladimir Bacca Cortes José Buitrago Molina
author_sort	Julio Urbano López
title	Vision-based Software Tool System for Position Estimation Using a Smartphone
title_short	Vision-based Software Tool System for Position Estimation Using a Smartphone
title_full	Vision-based Software Tool System for Position Estimation Using a Smartphone
title_fullStr	Vision-based Software Tool System for Position Estimation Using a Smartphone
title_full_unstemmed	Vision-based Software Tool System for Position Estimation Using a Smartphone
title_sort	vision-based software tool system for position estimation using a smartphone
publisher	Universidad Distrital Francisco José de Caldas
publishDate	2021
url	https://doaj.org/article/2843e8a56ef142fbbb12a7a803a7ca07
work_keys_str_mv	AT juliourbanolopez visionbasedsoftwaretoolsystemforpositionestimationusingasmartphone AT evalbladimirbaccacortes visionbasedsoftwaretoolsystemforpositionestimationusingasmartphone AT josebuitragomolina visionbasedsoftwaretoolsystemforpositionestimationusingasmartphone
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Vision-based Software Tool System for Position Estimation Using a Smartphone

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