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《Opto-Electronic Engineering》 2010-09
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Natural-landmark Scene Matching Vision Navigation Based on Dynamic Keyframe

LI Yao-jun,PAN Quan,ZHAO Chun-hui,YU Ying,YANG Feng(School of Automation,Northwestern Polytechnical University,Xi'an 710072,China)  
To study a backup navigation scheme for allowing temporally GPS faults or degradations,a natural-landmark scene matching visual navigation method based on dynamic keyframe is proposed for Unmanned Aerial Vehicle(UAV).Firstly,this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera.After abstraction of keyframes including featured natural landmark,UAV will be located by the means of NLSM(Natural-Landmark Scene Matching) based on dynamic keyframe.Additionally,this navigation scheme adopts interframe scene matching algorithm in order to improve the navigation performance of accuracy,reliability and runtime.Experiments show that the backup navigation scheme proposed meets the requirements of navigation in complex and unknown environment for UAV.
【Fund】: 国家重点基金(60634030);; 国家自然科学基金项目(60702066);; 教育部新世纪优秀人才项目(NCET-06-0878);; 航空基金(20090853013);; 西北工业大学校翱翔之星计划
【CateGory Index】: TP391.41
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Chinese Journal Full-text Database 1 Hits
1 LING Zhi-gang,PAN Quan,ZHANG Shao-wu,LIANG Yan,LI Yao-jun(College of Automation,Northwestern Polytechnical University,Xi'an 710072,China);A Scene Matching Method with Weighted Hausdorff Distance Based on Edge Measure[J];Journal of Astronautics;2009-04
Chinese Journal Full-text Database 2 Hits
1 LI Yao-jun,PAN Quan,ZHAO Chun-hui,ZHANG Shao-wu,LING Zhi-gang ( School of Automation,Northwestern Polytechnical University,Xi’an 710072,China);Scene matching navigation for UAV based on spatial relationship geometric constraints[J];Application Research of Computers;2010-10
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【Secondary Citations】
Chinese Journal Full-text Database 3 Hits
1 LENG Xue-Fei LIU Jian-Ye XIONG Zhi Navigation Research Center,College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016;A Real-time Image Matching Algorithm for Navigation System Based on Bifurcation Extraction[J];Acta Automatica Sinica;2007-07
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3 XIONG Zhi,LIU Jian-ye,LENG Xue-fei(Navigation Research Center,Nanjing University of Aeronautics & Astronautics,Nanjing 210016,China);The Study of Precision Image Matching Algorithm For Scene Matching Aided Navigation System[J];Journal of Astronautics;2006-04
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