Vision navigation for UAV based on scene matching

Xiang Li; Yang Shang; Ang Su; Wang Hou; Xiao-chun Liu; Xian-wei Zhu; Xia Yang; Hong-liang Zhang; Qi-feng Yu

doi:10.1117/12.918867

24 May 2012 Vision navigation for UAV based on scene matching

Xiang Li, Yang Shang, Ang Su, Wang Hou, Xiao-chun Liu, Xian-wei Zhu, Xia Yang, Hong-liang Zhang, Qi-feng Yu

Proceedings Volume 8388, Unattended Ground, Sea, and Air Sensor Technologies and Applications XIV; 838806 (2012) https://doi.org/10.1117/12.918867
Event: SPIE Defense, Security, and Sensing, 2012, Baltimore, Maryland, United States

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.

Citation Download Citation

Xiang Li, Yang Shang, Ang Su, Wang Hou, Xiao-chun Liu, Xian-wei Zhu, Xia Yang, Hong-liang Zhang, and 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); https://doi.org/10.1117/12.918867

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