TY - GEN
T1 - Indoor visual navigation system based on paired-landmark for small UAVs
AU - Wang, Tianmiao
AU - Zhang, Yicheng
AU - Wang, Chaolei
AU - Liang, Jianhong
AU - Gao, Han
AU - Liu, Miao
AU - Guan, Qinpu
AU - Sun, Anqi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - This paper has presented an implementation of visual based non-GNSS navigation method for small VTOL (Vertically Taking-off and Landing) UAV (Unmanned Aerial Vehicle). A novel method of constructing landmarks is described in detail. It uses a pair of landmarks instead of the general landmark which usually is a single geometry or coding image. The paired-landmark method inherits general landmark methods' advantages of low-cost, high-efficiency and the ability of absolute positioning. And it also solves the problem of requiring too much different characteristic landmarks when handling large area navigation. The paired-landmark method has been verified by a real parameter simulation environment. Real flight experiment is also carried out to test the effectiveness and performance of the paired-landmark navigation method. It can be concluded that, besides achieved the expected positioning precision, the proposed system also reduced the consumption of calculation and memory space.
AB - This paper has presented an implementation of visual based non-GNSS navigation method for small VTOL (Vertically Taking-off and Landing) UAV (Unmanned Aerial Vehicle). A novel method of constructing landmarks is described in detail. It uses a pair of landmarks instead of the general landmark which usually is a single geometry or coding image. The paired-landmark method inherits general landmark methods' advantages of low-cost, high-efficiency and the ability of absolute positioning. And it also solves the problem of requiring too much different characteristic landmarks when handling large area navigation. The paired-landmark method has been verified by a real parameter simulation environment. Real flight experiment is also carried out to test the effectiveness and performance of the paired-landmark navigation method. It can be concluded that, besides achieved the expected positioning precision, the proposed system also reduced the consumption of calculation and memory space.
UR - https://www.scopus.com/pages/publications/84983196446
U2 - 10.1109/ROBIO.2014.7090580
DO - 10.1109/ROBIO.2014.7090580
M3 - 会议稿件
AN - SCOPUS:84983196446
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 1703
EP - 1708
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -