发明名称 |
Method and system for navigation of an ummanned aerial vehicle in an urban environment |
摘要 |
A method and system for navigation of an unmanned aerial vehicle (UAV) in an urban environment are provided. The method comprises capturing a first set of Global Positioning System (GPS)-tagged images in an initial fly-over of the urban environment at a first altitude, with each of the GPS-tagged images being related to respective GPS-aided positions. The captured GPS-tagged images are stitched together into an image mosaic using the GPS-aided positions. A second set of images is captured in a subsequent fly-over of the urban environment at a second altitude that is lower than the first altitude. Image features from the second set of images are matched with image features from the image mosaic during the subsequent fly-over. A current position of the UAV relative to the GPS-aided positions is calculated based on the matched image features from the second set of images and the image mosaic.
|
申请公布号 |
US7725257(B2) |
申请公布日期 |
2010.05.25 |
申请号 |
US20060470134 |
申请日期 |
2006.09.05 |
申请人 |
HONEYWELL INTERNATIONAL INC. |
发明人 |
STRELOW DENNIS W.;TOUCHBERRY ALAN B |
分类号 |
G01C21/00 |
主分类号 |
G01C21/00 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|