Automated sensory data alignment for environmental and epidermal change monitoring

Michael Milford*, Jennifer Firn, James Beattie, Adam Jacobson, Edward Pepperell, Eugene Mason, Michael Kimlin, Matthew Dunbabin

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionResearchpeer-review

6 Citations (Scopus)


In this paper we present research adapting a state of the art condition-invariant robotic place recognition algorithm to the role of automated inter- and intra-image alignment of sensor observations of environmental and skin change over time. The approach involves inverting the typical criteria placed upon navigation algorithms in robotics; we exploit rather than attempt to fix the limited camera viewpoint invariance of such algorithms, showing that approximate viewpoint repetition is realistic in a wide range of environments and medical applications. We demonstrate the algorithms automatically aligning challenging visual data from a range of real-world applications: ecological monitoring of environmental change, aerial observation of natural disasters including flooding, tsunamis and bushfires and tracking wound recovery and sun damage over time and present a prototype active guidance system for enforcing viewpoint repetition. We hope to provide an interesting case study for how traditional research criteria in robotics can be inverted to provide useful outcomes in applied situations.

Original languageEnglish
Title of host publicationACRA 2014 - Australasian Conference on Robotics and Automation 2014
PublisherAustralasian Robotics and Automation Association
Number of pages10
ISBN (Electronic)9780980740448
ISBN (Print)978-0-9807404-5-5
Publication statusPublished - 2014
Externally publishedYes
EventAustralasian Conference on Robotics and Automation, ACRA 2014 - The University of Melbourne, Melbourne, Australia
Duration: 2 Dec 20144 Dec 2014 (Link to 2014 conference website)

Publication series

NameAustralasian Conference on Robotics and Automation, ACRA
ISSN (Print)1448-2053


ConferenceAustralasian Conference on Robotics and Automation, ACRA 2014
Internet address


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