Báo cáo hóa học: "Research Article Automatic Evaluation of Landmarks for Image-Based Navigation Update"

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 Automatic Evaluation of Landmarks for Image-Based Navigation Update | Hindawi Publishing Corporation EURASIP Journal on Advances in Signal Processing Volume 2009 Article ID 467549 10 pages doi 2009 467549 Research Article Automatic Evaluation of Landmarks for Image-Based Navigation Update Stefan Lang and Michael Kirchhof FGAN-FOM Research Institute for Optronics and Pattern Recognition Gutleuthauftr. 1 76275 Ettlingen Germany Correspondence should be addressed to Michael Kirchhof kirchhof@ Received 29 July 2008 Revised 19 December 2008 Accepted 26 March 2009 Recommended by Fredrik Gustafsson The successful mission of an autonomous airborne system like an unmanned aerial vehicle UAV strongly depends on its accurate navigation. While GPS is not always available and pose estimation based solely on Inertial Measurement Unit IMU drifts image-based navigation may become a cheap and robust additional pose measurement device. For the actual navigation update a landmark-based approach is used. It is essential that the used landmarks are well chosen. Therefore we introduce an approach for evaluating landmarks in terms of the matching distance which is the maximum misplacement in the position of the landmark that can be corrected. We validate the evaluations with our 3D reconstruction system working on data captured from a helicopter. Copyright 2009 S. Lang and M. Kirchhof. 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 Autonomous navigation is of growing interest in science as well as in industry. The key problem of most existing outdoor systems is the dependency on GPS data. Since GPS is not always available we integrate an image-based approach into the system. Landmarks are used to update the actual position and orientation. Thus it is necessary to select the landmarks carefully. This selection takes place in an offline phase before the mission.

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