| Autor: |
Wu, Rouwan, Cheng, Xiaoya, Zhu, Juelin, Liu, Xuxiang, Zhang, Maojun, Yan, Shen |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
3DV 2024 |
| Druh dokumentu: |
Working Paper |
| Popis: |
Despite significant progress in global localization of Unmanned Aerial Vehicles (UAVs) in GPS-denied environments, existing methods remain constrained by the availability of datasets. Current datasets often focus on small-scale scenes and lack viewpoint variability, accurate ground truth (GT) pose, and UAV build-in sensor data. To address these limitations, we introduce a large-scale 6-DoF UAV dataset for localization (UAVD4L) and develop a two-stage 6-DoF localization pipeline (UAVLoc), which consists of offline synthetic data generation and online visual localization. Additionally, based on the 6-DoF estimator, we design a hierarchical system for tracking ground target in 3D space. Experimental results on the new dataset demonstrate the effectiveness of the proposed approach. Code and dataset are available at https://github.com/RingoWRW/UAVD4L |
| Databáze: |
arXiv |
| Externí odkaz: |
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