24 May 2012 Vision navigation for UAV based on scene matching
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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.
© (2012) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
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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