| Autor: |
Pablo Mateos-Ramirez, Javier Gomez-Avila, Carlos Villaseñor, Nancy Arana-Daniel |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
Applied Sciences, Vol 14, Iss 16, p 7420 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2076-3417 |
| DOI: |
10.3390/app14167420 |
| Popis: |
In this paper, we present a method for estimating GPS coordinates from visual information captured by a monocular camera mounted on a fixed-wing tactical Unmanned Aerial Vehicle at high altitudes (up to 3000 m) in GPS-denied zones. The main challenge in visual odometry using aerial images is the computation of the scale due to irregularities in the elevation of the terrain. That is, it is not possible to accurately convert from pixels in the image to meters in space, and the error accumulates. The contribution of this work is a reduction in the accumulated error by comparing the images from the camera with satellite images without requiring the dynamic model of the vehicle. The algorithm has been tested in real-world flight experiments at altitudes above 1000 m and in missions over 17 km. It has been proven that the algorithm prevents an increase in the accumulated error. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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