Vision based localization of a small UAV for generating a large mosaic image

Taro Suzuki, Yoshiharu Amano, Takumi Hashizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Citations (Scopus)

Abstract

This paper describes a way to generate mosaic image using a small lightweight UAV for effective remote sensing. Payload limits are the source of most error in small lightweight UAVs to generate accurate mosaic images. We have overcome inherent small lightweight UAV drawbacks by providing them with integration of a GPS receiver, inertial sensors, and an image sensor to generate a large mosaic image. Position and attitude data of a UAV is estimated using onboard sensors and image correlation from SIFT features between overlapped images. A nonlinear optimization algorithm is used to optimize the position and attitude of the UAV. We demonstrated that our proposed mosaic image effectively enables low-cost remote sensing using a small lightweight UAV.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2960-2964
Number of pages5
Publication statusPublished - 2010
EventSICE Annual Conference 2010, SICE 2010 - Taipei
Duration: 2010 Aug 182010 Aug 21

Other

OtherSICE Annual Conference 2010, SICE 2010
CityTaipei
Period10/8/1810/8/21

Fingerprint

Unmanned aerial vehicles (UAV)
Remote sensing
Sensors
Image sensors
Global positioning system
Costs

Keywords

  • INS/GPS
  • Localization
  • Mosaic image
  • SIFT feature
  • UAV

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Suzuki, T., Amano, Y., & Hashizume, T. (2010). Vision based localization of a small UAV for generating a large mosaic image. In Proceedings of the SICE Annual Conference (pp. 2960-2964). [5602903]

Vision based localization of a small UAV for generating a large mosaic image. / Suzuki, Taro; Amano, Yoshiharu; Hashizume, Takumi.

Proceedings of the SICE Annual Conference. 2010. p. 2960-2964 5602903.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Suzuki, T, Amano, Y & Hashizume, T 2010, Vision based localization of a small UAV for generating a large mosaic image. in Proceedings of the SICE Annual Conference., 5602903, pp. 2960-2964, SICE Annual Conference 2010, SICE 2010, Taipei, 10/8/18.
Suzuki T, Amano Y, Hashizume T. Vision based localization of a small UAV for generating a large mosaic image. In Proceedings of the SICE Annual Conference. 2010. p. 2960-2964. 5602903
Suzuki, Taro ; Amano, Yoshiharu ; Hashizume, Takumi. / Vision based localization of a small UAV for generating a large mosaic image. Proceedings of the SICE Annual Conference. 2010. pp. 2960-2964
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