24 May 2012 Vision navigation for UAV based on scene matching
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Abstract
As a rising navigation technology, vision navigation has many advantages, such as passive measurement, antiinterference, no accumulation of error and comprehensive parameters, etc. It shows a promising application prospects in autonomous navigation for UAV. Based on an efficient, reliable and accurate scene matching, a vision altimeter and 3-D position estimation method are proposed. By matching multiple points between aerial image and reference image, it estimates UAV's position and height according to photogrammetry. To measure UAV's velocity, a mapless speed measurement method which tracks ground features between image sequences is introduced. Flight tests had shown the effectiveness and accuracy of our methods.
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Xiang Li, Xiang Li, Yang Shang, Yang Shang, Ang Su, Ang Su, Wang Hou, Wang Hou, Xiao-chun Liu, Xiao-chun Liu, Xian-wei Zhu, Xian-wei Zhu, Xia Yang, Xia Yang, Hong-liang Zhang, Hong-liang Zhang, Qi-feng Yu, Qi-feng Yu, } "Vision navigation for UAV based on scene matching", Proc. SPIE 8388, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV, 838806 (24 May 2012); doi: 10.1117/12.918867; https://doi.org/10.1117/12.918867
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