11. google map oriented visual navigation for uavs

Department: Electrical & Computer Engineering
Research Institute Affiliation: Agile Center for Visual Computing
Faculty Advisor(s): Nikolay A. Atanasov

Primary Student
Name: Mo Shan
Email: moshan@ucsd.edu
Phone: 858-353-6952
Grad Year: 2021

Abstract
Traditionally, UAV navigation is entrusted on GPS, which may be unreliable. We describe a framework to perform geo-referenced navigation based on Google Map. Localization is achieved via registering the on-board image to the reference, which relies on Particle Filter. HOG is used in a holistic manner to describe the images while Optical Flow is used for prediction and localisation with the absence of reliable match between the on-board image and the map. Our approach named HOP is able to handle multi-modal image registration in real time. Offline test using the flight data demonstrates the effectiveness and efficiency of our approach.

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