BRM Localization: UAV Localization in GNSS-Denied Environments Based on Matching of Numerical Map and UAV Images.
Junho ChoiHyun MyungPublished in: IROS (2020)
Keyphrases
- localization method
- image based localization
- image matching
- object localization
- accurate localization
- image database
- keypoints
- image data
- matching process
- image analysis
- image set
- three dimensional
- path planning
- feature points
- dynamic environments
- ground truth
- precise localization
- image registration
- image retrieval
- edge detection
- matching scheme
- image features
- input image
- extracted from images
- test images
- localization algorithm
- matching algorithm
- image collections
- normalized correlation
- loop closing
- feature descriptors
- structure from motion
- control algorithm
- maximum a posteriori
- region of interest
- image classification
- image regions
- image processing
- segmentation method