This paper describes an absolute localisation method for an unmanned ground vehicle (UGV) if GPS is unavailable for the vehicle. The basic idea is to combine an unmanned aerial vehicle (UAV) to the ground vehicle and use it as an external sensor platform to achieve an absolute localisation of the robotic team. Beside the discussion of the rather naive method directly using the GPS position of the aerial robot to deduce the ground robot's position the main focus of this paper lies on the indirect usage of the telemetry data of the aerial robot combined with live video images of an onboard camera to realise a registration of local video images with a-priori registered orthophotos. This yields to a precise driftless absolute localisation of the unmanned ground vehicle. Experiments with our robotic team (AMOR and PSYCHE) successfully verify this approach.
Absolute high-precision localisation of an unmanned ground vehicle by using real-time aerial video imagery for geo-referenced orthophoto registration
Absolute und hochgenaue Lokalisierung eines unbemannten Landfahrzeugs mit Hilfe der in Echzeit erfolgten Videodarstellung für geo-bezogene Orthophotoregistrierung
2009
8 Seiten, 2 Bilder, 11 Quellen
Aufsatz (Konferenz)
Englisch
Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information
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