Uav Visual Autolocalizaton Based on Automatic Landmark Recognition

Abstract

ABSTRACT:Deploying an autonomous unmanned aerial vehicle in GPS-denied areas is a highly discussed problem in the scientific community. There are several approaches being developed, but the main strategies yet considered are computer vision based navigation systems. This work presents a new real-time computer-vision position estimator for UAV navigation. The estimator uses images captured during flight to recognize specific, well-known, landmarks in order to estimate the latitude and longitude of the aircraft. The method was tested in a simulated environment, using a dataset of real aerial images obtained in previous flights, with synchronized images, GPS and IMU data. The estimated position in each landmark recognition was compatible with the GPS data, stating that the developed method can be used as an alternative navigation system.

Enhancing the Localization Accuracy of UAV Images under GNSS Denial Conditions

“…This method was not robust and required clear texture features, such as buildings and roads. Filho et al [ 22 ] proposed a method based on feature recognition to identify landmark buildings and then determine UAV localization information. This method required pre-configured building images in the task area to achieve feature extraction and UAV image localization, which was not conducive to rapid localization of UAV images.…”