LiU Electronic Press
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Author:
Conte, Gianpaolo (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Doherty, Patrick (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Title:
Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information
Department:
Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab
Linköping University, The Institute of Technology
Publication type:
Article in journal (Refereed)
Language:
English
Publisher: Hindawi Publishing Corporation
Status:
Published
In:
EURASIP Journal on Advances in Signal Processing, ISSN 1687-6172
Volume:
2009
Issue:
387308
Pages:
1-18
Year of publ.:
2009
URI:
urn:nbn:se:liu:diva-20341
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-20341
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Abstract(en) :

This paper investigates the possibility of augmenting an Unmanned Aerial Vehicle (UAV) navigation system with a passive video camera in order to cope with long-term GPS outages. The paper proposes a vision-based navigation architecture which combines inertial sensors, visual odometry, and registration of the on-board video to a geo-referenced aerial image. The vision-aided navigation system developed is capable of providing high-rate and drift-free state estimation for UAV autonomous navigation without the GPS system. Due to the use of image-to-map registration for absolute position calculation, drift-free position performance depends on the structural characteristics of the terrain. Experimental evaluation of the approach based on offline flight data is provided. In addition the architecture proposed has been implemented on-board an experimental UAV helicopter platform and tested during vision-based autonomous flights.

Available from:
2009-09-04
Created:
2009-09-04
Last updated:
2012-02-02
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