Abstract
The advances in microelectronics foster the Unmanned Aerial Vehicles (UAVs) to be used in many civil and academic applications that require higher levels of autonomy. Therefore, the navigation systems are considered one of the main subjects to study. This paper deals with the problem of estimating the pose of the UAV in the 3D world. In which, a vision-based navigation system using onboard monocular downward looking camera is proposed. The proposed system is based on a SIFT detector and FREAK descriptor which can keeps the performance of the feature matching and decrease the computational time. The system has been evaluated with real flight tests and the obtained results have been compared with the results from the DGPS.
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CITATION STYLE
Al-Kaff, A., de La Escalera, A., & Armingol, J. M. (2017). Homography-based navigation system for unmanned aerial vehicles. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 10617 LNCS, pp. 288–300). Springer Verlag. https://doi.org/10.1007/978-3-319-70353-4_25
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