L1-Graph-Based Image Matching Approach for UAV Navigation

摘要：

Keywords: Unmanned Aerial Vehicles (UAVs) are been increasingly used in civilian and military domains. Vision-aided inertial navigation system in UAV is studied by more and more researchers for it’s non-contact, high accuracy and stability. In this paper, an L1-Graph-based image matching approach, which constructs neighbouring system based on sparse representation, is proposed for monocular motion vision measurement. Then, a scheme for amending the outputs of inertial sensor for the velocity measurement is designed, which fuse the outputs from the downward-looking velocity measurement and inertial sensor by Kalman filter. Experiments show this design form an accurate navigation solution.

关键词： UAV L1-Graph Image matching Vision-aided inertial navigation Kalman filter.

作者: H.B.Zhou J.W.Tian D.Z.Zhang

作者单位: National Key Lab of Sci. & Tech. on Multispectral Information Processing, Inst. for Pattern Recognit National Key Lab of Sci. & Tech. on Multispectral Information Processing,Inst. for Pattern Recogniti

会议类型: 国际会议

会议名称: 第七届多光谱图象处理与模式识别国际学术会议

会议地点: 桂林

会议语种:英文

页码: 1-8

在线出版日期: 2011-11-01（万方平台首次上网日期，不代表论文的发表时间）