Research on visual autonomous navigation indoor for unmanned aerial vehicle

被引：2
|
作者：
Zhang Y. [1 ]
Lü Q. [1 ]
Lin H. [1 ]
Ma J. [1 ]
机构：
[1] Department of Control Engineering, Academy of Armored Forces Engineering, Beijing
来源：
Journal of Shanghai Jiaotong University (Science) | 2017年 / 22卷 / 2期
关键词：
autonomous navigation; robot operating system; unmanned aerial vehicle (UAV); visual localization;
D O I：
10.1007/s12204-017-1829-1
中图分类号：
学科分类号：
摘要：
The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments. © 2017, Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg.
引用
收藏
页码：252 / 256
页数：4
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