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Dynamic Key-Frame Based Airborne Scene Matching Vision Navigation

[+] Author Affiliations
Yaojun Li, Quan Pan, Chunhui Zhao, Feng Yang, Yongmei Cheng

Northwestern Polytechnical University, Xi’an, Shaanxi, China

Paper No. DETC2011-48954, pp. 1031-1035; 5 pages
doi:10.1115/DETC2011-48954
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

In order to develop a backup navigation scheme for allowing temporally GPS faults or degradations, this paper proposes a dynamic key-frame-based natural-landmark scene matching visual navigation method for UAV. Firstly, this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera. Secondly, After abstraction of key-frames including featured natural landmark, UAV will be located by the means of NLSM (Natural-Landmark Scene Matching) which based on dynamic key-frame. Thirdly, this navigation scheme adopt inter-frame scene matching algorithm in order to improving the navigation performance of accuracy, reliability and runtime. Experiments show that the vision navigation scheme proposed fits the requirements of navigation in complex and unknown environment for UAV.

Copyright © 2011 by ASME

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