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Geo-Referencing for UAV Navigation using Environmental Classification
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
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2010 (English)Report (Other academic)
Abstract [en]

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
Linköping: Linköping University Electronic Press, 2010. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2957
Keyword [en]
Global positioning system- -Image classification--Robot vision--Sensor fusion
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-97595ISRN: LiTH-ISY-R-2957OAI: oai:DiVA.org:liu-97595DiVA: diva2:649225
Funder
Swedish Research Council
Available from: 2013-09-17 Created: 2013-09-17 Last updated: 2014-09-01Bibliographically approved

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Lindsten, FredrikCallmer, JonasOhlsson, HenrikTörnqvist, DavidSchön, ThomasGustafsson, Fredrik

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Lindsten, FredrikCallmer, JonasOhlsson, HenrikTörnqvist, DavidSchön, ThomasGustafsson, Fredrik
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf