A GPU accelerated real-time self-contained visual navigation system for UAVs

2012 IEEE International Conference on Information and Automation, ICIA 2012

Volumn , Issue , 2012, Pages 578-581

  Guan, Xueyuan ^a   Bai, Hongyang ^a  

^a NANJING UNIVERSITY OF SCIENCE AND TECHNOLOGY   (China)

Author keywords

GPU; Matching; Navigation; SURF; UAVs

Indexed keywords

AERIAL IMAGES; AFFINE PROJECTIONS; ARTIFICIAL LANDMARK; AUTONOMOUS NAVIGATION SYSTEMS; BLOCKAGE CONDITIONS; FAILURE RECOVERY; FEATURE TRACKING ALGORITHM; FLIGHT DATA; GLOBAL LOCALIZATION; GPU; GRAPHICS PROCESSING UNIT; IDEAL SCHEMES; KEYPOINTS; MATCHING; MONOCULAR VIDEO; NATURAL LANDMARK; REFERENCE DATABASE; SAFE LANDING; SURF; TESTING RESULTS; UAVS; VIDEO FRAME; VISUAL NAVIGATION;

COMPUTER GRAPHICS; COMPUTER GRAPHICS EQUIPMENT; GLOBAL POSITIONING SYSTEM; IMAGE MATCHING; NAVIGATION; NAVIGATION SYSTEMS; PROGRAM PROCESSORS; TRACKING (POSITION);

UNMANNED AERIAL VEHICLES (UAV);

EID: 84866614490     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICInfA.2012.6246879     Document Type: Conference Paper

References (22)

1. A. Cesetti and E.Frontoni. "A Vision Based Guidence System for UAV Navigation and Safe Landing using Natural Landmarks," Journal of Intelligent Robot System, vol.2010, no.57, pp.233-257. 2010.
2. Gianpaolo Conte and Patrick Doherty. "An Integrated UAV Navigation System Based on Aerial Image Matching," Proceedings of IEEE Aerospace Conference, pp.1-10, 2008.
3. Omead Amidi, Takeo Kanade and Keisuke Fujita, A Visual Odometer for Autonomous Helicopter Flight, Journal of Robotics and Autonomous Systems, 1999, Vol.1999, No.28, pp.185-193.
4. Conte Gianpaolo, Doherty Patrck, An Integrated UAV Navigation System Based on Aerial Image Matching, IEEE Aerospace Conference, Big Sky, MT, March 2008, pp.1-10.
5. JaeHyung Kim, Joon Lyou, HwyKuen Kwak, Vision coupled GPS/INS Scheme for Helicopter Navigation, Journal of mechanical Science and Technology, Vol.24, No.2, pp.489-496.
6. Kyungsuk Lee, Jason M Kriesel, Nahum GAT, Autonomous Airborne Video-aided Navigation, Journal of the Institute of Navigation, 2010, Vol.57, No.3, pp.163-173.
7. D. G. Lowe, Distinctive image features from scale-invariant keypoints, International Journal of Computer Vision, Vol.60, No.2, pp.91-110.
8. Kamel Bensebaa, Santana Marcos Cleison Silva, De Almeida, Position Estimation of Autonomous Aerial Navigation Based on Hough Transform and Harris Corners Detection, 9th WSEAS International Conference on Circuits, Systems, Electronics, Control and Signal Processing (CSECS 10), Athens, Greece, December 2010, pp.148-153.
9. Bensebaa K, Martins M P, Localization Estimation for Autonomous Aerial Navigation by Matching Images with Different Resolutions, International Conference on Circuits, Systems, Electronics, Control & Signal Processing (CSECS 07), Cairo, Egypt, December 2007, pp.404-411.
10. Sara Saeedi, Farhad Samadzadegan, Naser EI-Sheimy, Vison-Aided Inertial Navigation for Pose Estimation of Aerial Vehicles, 22nd International Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2009), Savannah, GA, September 2009, pp.453-459.
11. Andrew Canhoto, Elcio Hideiti Shiguemori, Marco Antonio Pizani Domiciano, Image Sequence Processing Applied to Autonomous Aerial Navigation, IEEE International Conference on Signal and Image Processing Applications (ICSIPA 09), Kuala Lumpur, Malaysia, November 2009, pp.496-499.
12. Diomidis Katzourakis, Nikos I Vitzilaios, Nikos C Tsourveloudis, Vision Aided Navigation for Unmanned Helicopters, 17th Mediterranean Conference on Control and Automation (MED 09), Thessaloniki, Greece, June 2009, pp.1245-1250.
13. Andrea Cesetti, Emanuele Frontoni, Adriano Mancini, Andrea Ascani, Primo Zingaretti, Sauro Longhi, A Visual Global Positioning System for Unmanned Aerial Vehicles Used in Photogrammetric Applications, Journal of Intelligent Robot System, 2011, Vol.61, No.1, pp.157-168.
14. Gianpaolo Conte, Patrick Doherty, Vision-based Unmanned Aerial Vehicle Navigation using Geo-referenced Information, Journal on Advances in Signal Processing, Vol. 2009, No. 2009, pp.1-18.
15. Han K, DeSouza G N, Multiple Targets Geolocation using SIFT and Stereo Vision on Airborne Video Sequences, IEEE International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, MO, October 2009, pp.5327-5332.
16. Barber D B, Redding J D, Mclain T W, Beard R W, Taylor C N, Vision-based Target Geo-location Using a Fixed-wing Miniature Air Vehicle, Journal of Intelligent and Robotic Systems: Theory and Applications, 2006, Vol.47, No.4, pp.361-382.
17. Ollero A, Ferruz J, Caballero F, Hurtado S, Merino L, Motion compensation and object detection for autonomous helicopter visual navigation in the COMETS system, IEEE International Conference on Robotics and Automation, New Orleans, LA, April 2006, pp.19-24.
18. Masuko K, Takahashi I, Oqawa S, Meng-Hung Wu, Oosedo A, matsumoto T, Go K, Sugai F, Konno A, Uchiyama M, Autonomous takeoff and Landing of An Unmanned Aerial Vehicle, IEEE International Symposium on System Integration (SII 2010), Sendai, Japan, December 2010, pp.248-253.
19. Cesetti A, Frontoni E, Mancini A, Zingaretti P, Longhi S, A Vision Based Guidance System for UAV Navigation and Safe Landing using Natural Landmarks, Journal of Intelligent and Robotic Systems: Theory and Applications, 2010, Vol.57, No.1, pp.233-257.
20. Mahoor M H, Godzdanker R, Dalamaqkidis K, Valavanis K P, Vision-Based Landing of Light Weight Unmanned Helicopters on a Smart Landing Platform, Journal of Intelligent and Robotic Systems, 2011, Vol.61, No.1, pp.251-265.
21. Chavez A, Gustafson D, Vision-based Obstacle Avoidance Using SIFT Features, 5th International Symposium on Advances in Visual Computing (ISVC 09), Las Vegas, NV, November 2009, pp.550-557.
22. Herbert Bay, Andreas Ess, Tinne Tuytelaars and Luc Van Gool. SURF: Speeded-Up Robust Features, Computer Vision and Image Understanding (CVIU), 2008, Vol.110, No.3, pp.346-359.