IROS 2015 Paper Abstract


Paper ThAP.64

SHAN, MO (Temasek Laboratories @ NUS), Charan, Ajay (Indian Institute of Technology Jodhpur)

Google Map Referenced UAV Navigation via Simultaneous Feature Detection and Description

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 09:45−10:00, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Visual Navigation, Unmanned Aerial Systems, Computer Vision


We propose a geo-referenced approach for UAV navigation in GPS denied environment, aided by Google Map. Feature detector and descriptor that exploit the self-similarity of the images are paired to establish the correspondence between the on-board image and the map. Subsequently, template matching using a sliding window approach is confined in the search region predicted by inter-frame motion obtained from optical flow. Unreliable match that is far away from the predicted position is rejected. Our algorithm is robust against change in modality, viewpoint, as well as illumination. The effectiveness of our approach is demonstrated in the experiment using the flight data collected in International Micro Air Vehicles Conference and Flight Competition (IMAV) 2014.



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