Position estimation of autonomous aerial navigation based on Hough transform and Harris corners detection

Authors:
Bensebaa Kamel;Marcos Cleison Silva Santana;Thiago Couto De Almeida
Affiliations:
Computer Sciences Department, Federal University of Sergipe, Sergipe, Brazil;Department of Physics, Federal University of Sergipe, Sergipe, Brazil;Computer Sciences Department, Federal University of Sergipe, Sergipe, Brazil
Venue:
CSECS '10 Proceedings of the 9th WSEAS international conference on Circuits, systems, electronics, control & signal processing
Year:
2010

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Abstract

Automatic position estimation of Unmanned Aerial Vehicle remains to be one of the challenging problems in computer vision. When an Inertial Navigation System (INS) is inadequate and its position errors compounds over time, the main objective of this work approach is to investigate efficient algorithms for localization estimation for Autonomous Aerial Navigation. Thus, our approach is based on line detection by Hough transform and Harris corners detection. This method consists of firstly to detect the feature extraction using Hough transform in the images and estimate the rotation. Secondly the method consists of scale estimation based in distribution of features point in image. Thirdly we estimate the translation parameter. Finally we use a geometric model estimation to map the high-resolution image onto a low-resolution image, which results in position estimation.