ICASSP 2016accepted0 citations
Optimal UAV localisation in vision based navigation systems
Zhenlu Jin, Xuezhi Wang, Quan Pan, Bill Moran
Abstract
Optimal determination of a UAV using a vision-based system to match images against a database is an important problem. It can be reformulated to the problem of using multiregion scene registration to match areas of a noisy and distorted image to a geo-referenced image. Under the assumptions that the mapping between sensed and geo-referenced images preserves gradients of straight lines cross mapping points on images and registration errors are all Gaussian distributed, we derive a two-stage weighted linear least square algorithm which localises the UAV optimally. Performance of the proposed algorithm is demonstrated via Monte Carlo multiple runs along with those available in literature.
BibTeX
@inproceedings{icassp2016_optimaluavlocali,
title = {Optimal UAV localisation in vision based navigation systems},
author = {Zhenlu Jin and Xuezhi Wang and Quan Pan and Bill Moran},
booktitle = {ICASSP 2016},
year = {2016}
}