Global visual localization is critical for UAVs operating in environments where global navigation satellite systems (GNSS) are unreliable or unavailable. While many methods, such as visual odometry (VIO), rely on optical flow for localization, they often require prior knowledge of the current coordinates. In this paper, we propose an enhanced UAV localization method using the vector of locally aggregated descriptors (VLAD) combined with a cycle generative adversarial network (GAN) architecture. Unlike traditional approaches, our method does not require knowledge of the current coordinates; it only requires a pre-downloaded flight map, enabling location determination through image matching.
Comparing UAV camera data with satellite imagery for global localization
22.10.2024
492187 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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