Absolute localization of a flying UAV on its own in a global-navigation-satellite-system (GNSS)-denied environment is always a challenge. In this paper, we present a landmark-based approach where a UAV is automatically locked into the landmark scene shown in a georeferenced image via a feedback control loop, which is driven by the output of an aerial image registration. To pursue a real-time application, we design and implement a speeded-up-robust-features (SURF)-based image registration algorithm that focuses efficiency and robustness under a 2D geometric transformation. A linear UAV controller with signals of four degrees of freedom is derived from the estimated transformation matrix. The approach is validated in a virtual simulation environment, with experimental results demonstrating the effectiveness and robustness of the proposed UAV self-localization system.
Bibliographical notePublisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
- Image registration
- Landmark detection
- UAV control
- UAV localization
ASJC Scopus subject areas
- Control and Systems Engineering
- Signal Processing
- Hardware and Architecture
- Computer Networks and Communications
- Electrical and Electronic Engineering