Digital image processing (2nd ed.)
Digital image processing (2nd ed.)
A survey of image registration techniques
ACM Computing Surveys (CSUR)
Integrated Position Estimation Using Aerial Image Sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An autonomous vision-guided helicopter
An autonomous vision-guided helicopter
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Vision-based Target Geo-location using a Fixed-wing Miniature Air Vehicle
Journal of Intelligent and Robotic Systems
Real-time implementation of airborne inertial-SLAM
Robotics and Autonomous Systems
Vision-Based SLAM: Stereo and Monocular Approaches
International Journal of Computer Vision
Robust matching area selection for terrain matching using level set method
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
A delegation-based architecture for collaborative robotics
AOSE'10 Proceedings of the 11th international conference on Agent-oriented software engineering
A distributed task specification language for mixed-initiative delegation
PRIMA'10 Proceedings of the 13th international conference on Principles and Practice of Multi-Agent Systems
Vision-based absolute navigation for descent and landing
Journal of Field Robotics
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Journal of Intelligent and Robotic Systems
Flight path planning for unmanned aerial vehicles with landmark-based visual navigation
Robotics and Autonomous Systems
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This paper investigates the possibility of augmenting an Unmanned Aerial Vehicle (UAV) navigation system with a passive video camera in order to cope with long-term GPS outages. The paper proposes a vision-based navigation architecture which combines inertial sensors, visual odometry, and registration of the on-board video to a geo-referenced aerial image. The vision-aided navigation system developed is capable of providing high-rate and drift-free state estimation for UAV autonomous navigation without the GPS system. Due to the use of image-to-map registration for absolute position calculation, drift-free position performance depends on the structural characteristics of the terrain. Experimental evaluation of the approach based on offline flight data is provided. In addition the architecture proposed has been implemented on-board an experimental UAV helicopter platform and tested during vision-based autonomous flights.