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Planar PØP: Feature-less pose estimation with applications in UAV localization
2016 Edition, October 1, 2016 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

We present a featureless pose estimation method that, in contrast to current Perspective-n-Point (PnP) approaches, it does not require n point correspondences to obtain the camera pose, allowing for pose estimation from natural shapes that do not...

Indoor UAV Localization Using a Tether
2018 Edition, August 1, 2018 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper presents an approach to localize a UAV in indoor environments using only a quasi-taut tether. In indoor GPS-denied environments, UAV localization usually depends on vision-based methods combined with inertial sensing, such as visual...

Visual Measurement Integrity Monitoring for UAV Localization
2019 Edition, September 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Unmanned aerial vehicles (UAVs) have increasingly been adopted for safety, security, and rescue missions, for which they need precise and reliable pose estimates relative to their environment. To ensure mission safety when relying on visual perception, it is essential to have an...

Indoor UAV Localization using Manifold Alignment with Mobile AP Detection
2019 Edition, May 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Due to the rapid development of indoor Unmanned Aerial Vehicles (UAVs) in recent years, the localization of indoor UAVs has become a focus of attention in UAVs applications. Among them, the Wireless Local Area Network (WLAN) based localization...

Image-based UAV localization using interval methods
2017 Edition, September 1, 2017 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

This paper proposes an image-based localization method that enables to estimate a bounded domain of the pose of an unmanned aerial vehicle (UAV) from uncertain measurements of known landmarks in the image. The approach computes a domain that should contain the actual...

3D Sensor-Based UAV Localization for Bridge Inspection
2019 Edition, November 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Autonomous vehicles often benefit from the Global Positioning System (GPS) for navigational guidance as people do with their mobile phones or automobile radios. However, since GPS is not always available or reliable everywhere, autonomous vehicles need more reliable systems to understand...

Solving UAV Localization Problem with Artificial Bee Colony (ABC) Algorithm
2019 Edition, September 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Driven by the wireless communication, sensor, vision system and battery technologies, unmanned aerial vehicles for short UAVs have started to be used for solving social, commercial or military applications including traffic surveillance, package transportation, wildlife research and...

Mining visual experience for fast cross-view UAV localization
2015 Edition, December 1, 2015 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

A novel visual image retrieval technique for fast cross-view UAV localization is presented in this paper. Our first contribution is to address the computational complexity of raw image matching, which can be time/space intractable due to the high dimensionality of raw image...

Robust nonlinear filtering for INS/GPS UAV localization
2008 Edition, June 1, 2008 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. UAVs rely on accurate location information for a variety of purposes including navigation, motion planning and control, and mission completion. UAV INS/GPS localization is...

High-Precision UAV Localization System for Landing on a Mobile Collaborative Robot Based on an IR Marker Pattern Recognition
2019 Edition, April 1, 2019 - IEEE - Institute of Electrical and Electronics Engineers, Inc.

We present a novel high-precision UAV localization system for interconnection between two collaborative robots, i.e., unmanned ground robot (UGR) and unmanned aerial vehicle (UAV) capable of autonomous navigation and precise localization in an indoor environment....

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