文章基本信息

标题：Position Estimation of Unmanned Aerial Vehicle Based on a Vision Aided Navigation System
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作者：F. Samadzadegan ; M. Hahn ; S. Saeedi 等
期刊名称：ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences
印刷版ISSN：2194-9042
电子版ISSN：2194-9050
出版年度：2007
卷号：XXXVI–4/W45
出版社：Copernicus Publications
摘要：Automatic pose estimation remains to be one of the challenging problems in photogrammetry and computer vision. When other systems (e.g. GPS and INS) are inadequate, and real time precise positioning is required, image is a very high quality device for localization of vehicles. In this paper, we address a method for Vision Based Navigation (VBN) of Aerial Vehicles which is to determine precise position and attitude of the vehicle in real time. P ose Estimation is achieved by registering single sensed image frames to stored reference database using salient features and descriptors. The reference database includes previously collected satellite imageries and 3D terrain maps that have been precisely aligned to geo-coordinates. The pose estimation strategy has been tested on a number of different images and experimental results proved the feasibility and robustness of our approach
关键词：Navigation; Pose Estimation; Geo-Referencing; Vision-Based; Matching; Fuzzy reasonning