Natural-landmark scene matching vision navigation based on dynamic keyframe

Yao Jun Li; Quan Pan; Chun Hui Zhao; Ying Yu; Feng Yang

doi:10.3969/j.issn.1003-501X.2010.09.006

Natural-landmark scene matching vision navigation based on dynamic keyframe

Yao Jun Li, Quan Pan, Chun Hui Zhao, Ying Yu, Feng Yang

School of Automation

Northwestern Polytechnical University Xian

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

To study a backup navigation scheme for allowing temporally GPS faults or degradations, a natural-landmark scene matching visual navigation method based on dynamic keyframe is proposed for Unmanned Aerial Vehicle (UAV). Firstly, this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera. After abstraction of keyframes including featured natural landmark, UAV will be located by the means of NLSM (Natural-Landmark Scene Matching) based on dynamic keyframe. Additionally, this navigation scheme adopts interframe scene matching algorithm in order to improve the navigation performance of accuracy, reliability and runtime. Experiments show that the backup navigation scheme proposed meets the requirements of navigation in complex and unknown environment for UAV.

Original language	English
Pages (from-to)	32-38
Number of pages	7
Journal	Guangdian Gongcheng/Opto-Electronic Engineering
Volume	37
Issue number	9
DOIs	https://doi.org/10.3969/j.issn.1003-501X.2010.09.006
State	Published - Sep 2010

Keywords

Dynamic keyframe
Interframe scene matching
Natural landmark
UAV
Vision navigation

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10.3969/j.issn.1003-501X.2010.09.006

Cite this

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title = "Natural-landmark scene matching vision navigation based on dynamic keyframe",

abstract = "To study a backup navigation scheme for allowing temporally GPS faults or degradations, a natural-landmark scene matching visual navigation method based on dynamic keyframe is proposed for Unmanned Aerial Vehicle (UAV). Firstly, this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera. After abstraction of keyframes including featured natural landmark, UAV will be located by the means of NLSM (Natural-Landmark Scene Matching) based on dynamic keyframe. Additionally, this navigation scheme adopts interframe scene matching algorithm in order to improve the navigation performance of accuracy, reliability and runtime. Experiments show that the backup navigation scheme proposed meets the requirements of navigation in complex and unknown environment for UAV.",

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AB - To study a backup navigation scheme for allowing temporally GPS faults or degradations, a natural-landmark scene matching visual navigation method based on dynamic keyframe is proposed for Unmanned Aerial Vehicle (UAV). Firstly, this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera. After abstraction of keyframes including featured natural landmark, UAV will be located by the means of NLSM (Natural-Landmark Scene Matching) based on dynamic keyframe. Additionally, this navigation scheme adopts interframe scene matching algorithm in order to improve the navigation performance of accuracy, reliability and runtime. Experiments show that the backup navigation scheme proposed meets the requirements of navigation in complex and unknown environment for UAV.

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Natural-landmark scene matching vision navigation based on dynamic keyframe

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Keywords

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