Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID 387308 18 pages doi 2009 387308 Research Article Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information Gianpaolo Conte and Patrick Doherty Artificial Intelligence and Integrated Computer System Division Department of Computer and Information Science Linkoping University 58183 Linkoping Sweden Correspondence should be addressed to Gianpaolo Conte giaco@ Received 31 July 2008 Revised 27 November 2008 Accepted 23 April 2009 Recommended by Matthijs Spaan This paper investigates the possibility of augmenting an Unmanned Aerial Vehicle UAV navigation system with a passive video camera in order to cope with long-term GPS outages. The paper proposes a vision-based navigation architecture which combines inertial sensors visual odometry and registration of the on-board video to a geo-referenced aerial image. The vision-aided navigation system developed is capable of providing high-rate and drift-free state estimation for UAV autonomous navigation without the GPS system. Due to the use of image-to-map registration for absolute position calculation drift-free position performance depends on the structural characteristics of the terrain. Experimental evaluation of the approach based on offline flight data is provided. In addition the architecture proposed has been implemented on-board an experimental UAV helicopter platform and tested during vision-based autonomous flights. Copyright 2009 G. Conte and P. Doherty. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use distribution and reproduction in any medium provided the original work is properly cited. 1. Introduction One of the main concerns which prevents the use of UAV systems in populated areas is the safety issue. State-of-the-art UAVs are still not able to guarantee an acceptable level of safety to convince .