BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images.
Junho ChoiHyun MyungPublished in: CoRR (2020)
Keyphrases
- localization method
- image based localization
- image matching
- object localization
- image database
- accurate localization
- image data
- dynamic environments
- three dimensional
- path planning
- feature points
- precise localization
- image collections
- image analysis
- unmanned aerial vehicles
- image set
- object recognition
- image retrieval
- feature matching
- test images
- image classification
- ground truth
- matching process
- image features
- structure from motion
- control algorithm
- loop closing
- geometric transformations
- input image
- localization algorithm
- extracted from images
- monte carlo localization
- localization error
- image registration
- map building
- matching scheme
- edge detection
- disparity map
- matching algorithm
- lighting conditions