Novel Technique for Vision-Based UAV Navigation

被引：55
|
作者：
Zhang, Jun [1 ]
Liu, Weisong [2 ]
Wu, Yirong [3 ]
机构：
[1] Univ Wisconsin, Dept Elect Engn & Comp Sci, Milwaukee, WI 53201 USA
[2] Med Coll Wisconsin, Human & Mol Genet Ctr, Milwaukee, WI 53226 USA
[3] Univ Wisconsin, Sch Med & Publ Hlth, Madison, WI 53792 USA
来源：
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2011年 / 47卷 / 04期
关键词：
VISUAL TERRAIN INFORMATION; VEHICLE MOTION ESTIMATION; POSITION; IMAGES;
D O I：
10.1109/TAES.2011.6034661
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
We describe a novel technique for vision-based UAV (unmanned aerial vehicle) navigation. In this technique, the navigation (position estimation) problem is formulated as a tracking problem and solved by a particle filter. The state and observation models of the particle filter are established based on a stereo analysis of the image sequence generated by the UAV's video camera in connection with a DEM (digital elevation map) of the area of the flight, which helps to control estimation error accumulation. The efficacy of this technique is demonstrated by simulation results.
引用
收藏
页码：2731 / 2741
页数：11
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