An UAV Navigation Aided with Computer Vision
Currently most of UAV navigation systems are composed of GPS/INS integrated navigation. To give a alternative navigation method when GPS doesnt work on UAV, a machine vision-aided navigation method is proposed to navigate the UAV with INS. Image Stitching as the core technology is to build real-time ground panoramic image. Combined with GPS latitude and longitude information, certain data fusion method is used to build dynamic ground map. In case of failure of GPS positioning, scene matching techniques is used on the dynamic map to get real-time latitude and longitude information of UAV, to form a integrated navigation with pure inertial system. Also, UAVs can perform a variety of intelligent missions based on the method. In this paper, Visual C + + is applied to form complete visual / GPS / INS integrated navigation simulation system, the simulation experiments of proposed navigation method verify the feasibility of the program and high prospects.
Vision Navigation UAV Image Stitching Scene Matching
ZHANG ChengHao CHEN JiaBin SONG ChunLei XU JianHua
School of Automation, Beijing Institute of Technology, Beijing 100081, P.R. China
国际会议
长沙
英文
5297-5301
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）