Air-ground Matching: Appearance-based GPS-denied Urban Localization of Micro Aerial Vehicles

In this paper, we address the problem of globally localizing and tracking the pose of a camera‐equipped micro aerial vehicle (MAV) flying in urban streets at low altitudes without GPS. An image‐based global positioning system is introduced to localize the MAV with respect to the surrounding building...

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Veröffentlicht in:	Journal of field robotics 2015-10, Vol.32 (7), p.1015-1039
Hauptverfasser:	Majdik, András L., Verda, Damiano, Albers-Schoenberg, Yves, Scaramuzza, Davide
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Flight Flying Global positioning systems GPS Image detection Localization Matching Position (location) Streets
Online-Zugang:	Volltext
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