Homography-Based Navigation System for Unmanned Aerial Vehicles

被引：8

作者：

Al-Kaff, Abdulla ^{[1
]}

de La Escalera, Arturo ^{[1
]}

Maria Armingol, Jose ^{[1
]}

机构：

[1] Univ Carlos III Madrid, Intelligent Syst Lab, C Butarque 15, Madrid 28911, Spain

来源：

ADVANCED CONCEPTS FOR INTELLIGENT VISION SYSTEMS (ACIVS 2017) | 2017年 / 10617卷

关键词：

Localization; Navigation; Homographies; Feature detection; UAV; Monocular vision; VISUAL ODOMETRY;

D O I：

10.1007/978-3-319-70353-4_25

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The advances in microelectronics foster the Unmanned Aerial Vehicles (UAVs) to be used in many civil and academic applications that require higher levels of autonomy. Therefore, the navigation systems are considered one of the main subjects to study. This paper deals with the problem of estimating the pose of the UAV in the 3D world. In which, a vision-based navigation system using onboard monocular downward looking camera is proposed. The proposed system is based on a SIFT detector and FREAK descriptor which can keeps the performance of the feature matching and decrease the computational time. The system has been evaluated with real flight tests and the obtained results have been compared with the results from the DGPS.

引用

页码：288 / 300

页数：13

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