Abstract
This article is devoted to development of methods of positioning of unmanned aerial vehicles (UAV) with use of video cameras and methods of computer vision. UAV flies over the district, having a relief. Main feature of proposed method is using of Gabor’s wavelets to search of so-called reference points with known 3D-coordinates. Reference points are used from etalon images of the district (for example, satellite images) and looked for on the frame from the UAV’s camera. Also, comparison of feature points from the frame and a satellite image detected by SURF algorithm is used. The system of modeling of flight of the virtual UAV which allows testing the developed algorithms is realized.
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Acknowledgments
This work was supported by the Ministry of Education and Science of the Russian Federation, agreement № 14.607.21.0012 for a grant on “Conducting applied research for the development of intelligent technology and software systems, navigation and control of mobile technical equipment using machine vision techniques and high-performance distributed computing”. Unique identifier: RFMEFI60714X0012.
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Stepanov, D., Tishchenko, I. (2017). Methods of Visual Navigation of the UAV Flying Over the Nonplanar District. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_45
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DOI: https://doi.org/10.1007/978-3-319-31293-4_45
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