Geo-Referencing for UAV Navigation using Environmental Classification
2010 (English)In: Proceedings of the 2010 IEEE International Conference on Robotics and Automation, 2010, 1420-1425 p.Conference paper (Refereed)
A UAV navigation system relying on GPS is vulnerable to signal failure, making a drift free backup system necessary. We introduce a vision based geo-referencing system that uses pre-existing maps to reduce the long term drift. The system classifies an image according to its environmental content and thereafter matches it to an environmentally classified map over the operational area. This map matching provides a measurement of the absolute location of the UAV, that can easily be incorporated into a sensor fusion framework. Experiments show that the geo-referencing system reduces the long term drift in UAV navigation, enhancing the ability of the UAV to navigate accurately over large areas without the use of GPS.
Place, publisher, year, edition, pages
2010. 1420-1425 p.
Global positioning system, Image classification, Robot vision, Sensor fusion
IdentifiersURN: urn:nbn:se:liu:diva-63589DOI: 10.1109/ROBOT.2010.5509424ISBN: 978-1-4244-5040-4ISBN: 978-1-4244-5038-1OAI: oai:DiVA.org:liu-63589DiVA: diva2:380787
2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, 3-7 May, 2010
FunderSwedish Research Council