Paper Info
Title
Scene Matching in GPS Denied Environments: A Comparison of Methods for Orthophoto Registration
Abstract
Unmaned Aerial Systems (UAS) is a subject with great appeal, nowadays. Suitable applications for this kind of vehicles are countless. This work presents a study on scene matching (navigation with global positioning using image registration) in GPS denied environments. Usually, the problem is solved by fusing inertial data with other sources of displacement measurements like simultaneous localization and mapping or visual odometry. Although helpful, those methods establish a navigation system based on relative positioning, since they are limited to foreseeing displacements from previous states. Image registration can refresh the UAS position with georeferenced data, i.e., an absolute global position. This work reaches that goal through a detailed analysis of methods capable of extracting image information (e.g, edges or other invariant key points), enabling the registration process and consequently the estimation of position. Our results were quantified in terms of error estimation and time cost for computation. They have shown that good performance is achieved with a Convolutional Neural Network complemented with SURF approach.
Year
DOI
Venue
2019
10.1109/ICMECH.2019.8722872
2019 IEEE International Conference on Mechatronics (ICM)
Keywords
Field
DocType
Image edge detection,Feature extraction,Image registration,Feature detection,Simultaneous localization and mapping,Navigation,Cameras
Computer vision,Scene matching,Control engineering,Artificial intelligence,Global Positioning System,Engineering,Orthophoto
Conference
Volume
ISBN
Citations 
1
978-1-5386-6959-4
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
erick m moreira120.76
Otavio Augusto Maciel Camargo200.34
Julio Cesar Duarte331.39
Paulo Fernando Ferreira Rosa495.15