TY - GEN
T1 - Optimal UAV localisation in vision based navigation systems
AU - Jin, Zhenlu
AU - Wang, Xuezhi
AU - Pan, Quan
AU - Moran, Bill
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/5/18
Y1 - 2016/5/18
N2 - Optimal determination of a UAV using a vision-based system to match images against a database is an important problem. It can be reformulated to the problem of using multiregion scene registration to match areas of a noisy and distorted image to a geo-referenced image. Under the assumptions that the mapping between sensed and geo-referenced images preserves gradients of straight lines cross mapping points on images and registration errors are all Gaussian distributed, we derive a two-stage weighted linear least square algorithm which localises the UAV optimally. Performance of the proposed algorithm is demonstrated via Monte Carlo multiple runs along with those available in literature.
AB - Optimal determination of a UAV using a vision-based system to match images against a database is an important problem. It can be reformulated to the problem of using multiregion scene registration to match areas of a noisy and distorted image to a geo-referenced image. Under the assumptions that the mapping between sensed and geo-referenced images preserves gradients of straight lines cross mapping points on images and registration errors are all Gaussian distributed, we derive a two-stage weighted linear least square algorithm which localises the UAV optimally. Performance of the proposed algorithm is demonstrated via Monte Carlo multiple runs along with those available in literature.
KW - image registration error
KW - multi-region scene matching
KW - UAV localisation
KW - vision based navigation
KW - weighted linear least square
UR - http://www.scopus.com/inward/record.url?scp=84973349189&partnerID=8YFLogxK
U2 - 10.1109/ICASSP.2016.7471830
DO - 10.1109/ICASSP.2016.7471830
M3 - 会议稿件
AN - SCOPUS:84973349189
T3 - ICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
SP - 1021
EP - 1025
BT - 2016 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP 2016
Y2 - 20 March 2016 through 25 March 2016
ER -