Research on visual autonomous navigation indoor for unmanned aerial vehicle

  • Yang Zhang (张 洋)
  • Qiang Lü (吕 强)
  • Huican Lin (林辉灿)
  • Jianye Ma (马建业)


The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments.

Key words

unmanned aerial vehicle (UAV) visual localization autonomous navigation robot operating system 

CLC number

TP 242 

Document code


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Copyright information

© Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  • Yang Zhang (张 洋)
    • 1
  • Qiang Lü (吕 强)
    • 1
  • Huican Lin (林辉灿)
    • 1
  • Jianye Ma (马建业)
    • 1
  1. 1.Department of Control EngineeringAcademy of Armored Forces EngineeringBeijingChina

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