An aerial vehicle is navigated using vision-aided navigation that classifies regions of acquired still image frames as featureless or feature-rich, and thereby avoids expending time and computational resources attempting to extract and match false features from the featureless regions. The classification may be performed by computing a texture metric as by testing widths of peaks of the autocorrelation function of a region against a threshold, which may be an adaptive threshold, or by using a model that has been trained using a machine learning method applied to a training dataset comprising training images of featureless regions and feature-rich regions. Such machine learning method can use a support vector machine. The resultant matched feature observations can be data-fused with other sensor data to correct a navigation solution based on GPS and/or IMU data.


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    Titel :

    Vision-aided aerial navigation


    Beteiligte:
    MA YUNQIAN (Autor:in)

    Erscheinungsdatum :

    21.08.2018


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06V



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