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Homography-Based Navigation System for Unmanned Aerial Vehicles

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Book cover Advanced Concepts for Intelligent Vision Systems (ACIVS 2017)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 10617))

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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Acknowledgments

Research supported by the Spanish Government through the CICYT projects (TRA2015-63708-R and TRA2016-78886-C3-1-R), and the Comunidad de Madrid through SEGVAUTO-TRIES (S2013/MIT-2713).

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Authors and Affiliations

  1. Intelligent Systems Lab, University Carlos III of Madrid, C/Butarque 15, 28911, Leganés, Madrid, Spain

    Abdulla Al-Kaff, Arturo de La Escalera & José María Armingol

Authors
  1. Abdulla Al-Kaff
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  2. Arturo de La Escalera
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  3. José María Armingol
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Corresponding author

Correspondence to Abdulla Al-Kaff .

Editor information

Editors and Affiliations

  1. DGA, Paris, France

    Jacques Blanc-Talon

  2. University of Antwerp, Antwerp, Belgium

    Rudi Penne

  3. Ghent University - imec, Ghent, Belgium

    Wilfried Philips

  4. CSIRO Data 61, Canberra, Aust Capital Terr, Australia

    Dan Popescu

  5. University of Antwerp, Wilrijk, Belgium

    Paul Scheunders

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Al-Kaff, A., de La Escalera, A., Armingol, J.M. (2017). Homography-Based Navigation System for Unmanned Aerial Vehicles. In: Blanc-Talon, J., Penne, R., Philips, W., Popescu, D., Scheunders, P. (eds) Advanced Concepts for Intelligent Vision Systems. ACIVS 2017. Lecture Notes in Computer Science(), vol 10617. Springer, Cham. https://doi.org/10.1007/978-3-319-70353-4_25

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  • DOI: https://doi.org/10.1007/978-3-319-70353-4_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70352-7

  • Online ISBN: 978-3-319-70353-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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