Introductory Techniques for 3-D Computer Vision
Introductory Techniques for 3-D Computer Vision
Epipole and fundamental matrix estimation using virtual parallax
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Real-time Localization in Outdoor Environments using Stereo Vision and Inexpensive GPS
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
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A vision-based terrain referenced navigation (TRN) system is addressed for autonomous navigation of unmanned aerial vehicles (UAVs). A typical TRN algorithm blends inertial navigation data with measured terrain information to estimate vehicle's position. In this paper, however, we replace the low-cost inertial navigation system (INS) with a monocular vision system. The homography decomposition algorithm is utilized to estimates the relative translational motion using features on the ground with simple assumptions. A numerical integration point-mass filter based on Bayesian estimation is employed to combine the translation information obtained from the vision system with the measured terrain height. Numerical simulations are constructed to evaluate the performance of the proposed method. The results show that the precise autonomous navigation of unmanned aircrafts is achieved by the vision-based TRN algorithm.