A multi-region scene matching-based localisation system for automated navigation of Unmanned Aerial Vehicles (UAV) is proposed. This system may serve as a backup navigation error correction system to support autonomous navigation in the absence of a global positioning system such as a Global Navigation Satellite System. Conceptually, the system computes the location of the UAV by comparing the sensed images taken by an on board optical camera with a library of pre-recorded geo-referenced images. Several challenging issues in building such a system are addressed, including the colour variability problem and elimination of time-varying details from the pairs of images. The overall algorithm is an iterative process involving four sub-processes: firstly, exact histogram matching is applied to sensed images to overcome the colour variability issues; secondly, regions are automatically extracted from the sensed image where landmarks are detected via their colour histograms; thirdly, these regions are matched against the library, while eliminating inconsistent regions between underlying image pairs in the registration process; and finally the location of the UAV is computed using an optimisation procedure which minimises the localisation error using affine transformations. Experimental results demonstrate the proposed system in terms of accuracy, robustness and computational efficiency.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multi-Region Scene Matching Based Localisation for Autonomous Vision Navigation of UAVs



    Published in:

    The journal of navigation ; 69 , 6 ; 1215-1233


    Publication date :

    2016




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English



    Classification :

    BKL:    53.84 Ortungstechnik, Radartechnik / 55.44 Schiffsführung / 53.84 / 42.89 / 55.20 / 55.44 / 55.86 / 55.54 / 55.86 Schiffsverkehr, Schifffahrt / 55.20 Straßenfahrzeugtechnik / 42.89 Zoologie: Sonstiges / 55.54 Flugführung
    Local classification TIB:    275/5680/7035



    VISION-BASED LOCALISATION FOR AUTONOMOUS AERIAL NAVIGATION IN GNSS-DENIED SITUATIONS

    Sabel, D. / Maki, A. / Westin, T. et al. | British Library Conference Proceedings | 2022


    Special issue on high‐speed vision‐based autonomous navigation of uavs

    Loianno, Giuseppe / Scaramuzza, Davide / Kumar, Vijay | British Library Online Contents | 2018


    An Autonomous Relative Navigation Algorithm Based on Interframe and Scene Matching

    Wang, Jinjiang / Dong, Jiahang / Yue, Yazhou et al. | Springer Verlag | 2025


    A vision-based Flight Guidance and Navigation System for autonomous cross-country soaring UAVs

    Stolle, Martin / Bolting, Jan / Doll, Carsten et al. | IEEE | 2015


    Autonomous Mobile Robot Navigation Using Scene Matching with Local Features

    Shioya, Toshiaki / Kogure, Kazushige / Iwata, Tomoyuki et al. | British Library Online Contents | 2016