GNSS-Free Localization for UAVs in the Wild
Gurgu, Marius-Mihail (2022-07-27)
GNSS-Free Localization for UAVs in the Wild
Gurgu, Marius-Mihail
(27.07.2022)
Julkaisu on tekijänoikeussäännösten alainen. Teosta voi lukea ja tulostaa henkilökohtaista käyttöä varten. Käyttö kaupallisiin tarkoituksiin on kielletty.
avoin
Julkaisun pysyvä osoite on:
https://urn.fi/URN:NBN:fi-fe2022080553050
https://urn.fi/URN:NBN:fi-fe2022080553050
Tiivistelmä
Considering the accelerated development of Unmanned Aerial Vehicles (UAVs) applications in both industrial and research scenarios, there is an increasing need for localizing these aerial systems in non-urban environments, using GNSS-Free, vision-based methods. This project studies three different image feature matching techniques and proposes a final implementation of a vision-based localization algorithm that uses deep features to compute geographical coordinates of a UAV flying in the wild. The method is based on matching salient features of RGB photographs captured by the drone camera and sections of a pre-built map consisting of georeferenced open-source satellite images. Experimental results prove that vision-based localization has comparable accuracy with traditional GNSS-based methods, which serve as ground truth.