Vision-based positioning and terrain mapping by global alignment for UAVs

H. Madjidi, S. Negahdaripour, E. Bandari

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

12 Scopus citations

Abstract

Construction of 3D topographic maps from stereo or monocular video, over coverage areas of kilometer scale, taken by low-altitude airborne platforms is addressed. Two computational frameworks for these two cases are considered, accommodating the online processing of video along the path. In these formulations, stereo disparity information enables the computation of 3D motions and depth maps to be done more readily, however, monocular motion cues provide similar accuracy with more computational steps. The critical issue is to overcome the drift error, which is inherent of the causal frame-to frame motion estimation, as the video frames are acquired. A novel global alignment scheme is proposed, aimed at determining the 3D trajectory most consistent with the estimated 3D motions between pairs of nearby positions. Performance is demonstrated based on experiment with a sequence of 5000 stereo pairs, simulating aerial photographic data from an airborne platform flying at 110 m above (the reference plane of) a 1 km /spl times/ 1 km terrain with 5-65m elevation. Maximum geo-referenced positioning accuracy is roughly 2 m, with elevation error of 1 m or less over 95% of the terrain.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages305-312
Number of pages8
ISBN (Electronic)0769519717, 9780769519715
DOIs
StatePublished - Jan 1 2003
EventIEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003 - Miami, United States
Duration: Jul 21 2003Jul 22 2003

Publication series

NameProceedings - IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003

Other

OtherIEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003
CountryUnited States
CityMiami
Period7/21/037/22/03

Keywords

  • Layout
  • Mobile robots
  • Motion estimation
  • Navigation
  • Reconnaissance
  • Remotely operated vehicles
  • Surveillance
  • Terrain mapping
  • Three dimensional displays
  • Unmanned aerial vehicles

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing

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    Madjidi, H., Negahdaripour, S., & Bandari, E. (2003). Vision-based positioning and terrain mapping by global alignment for UAVs. In Proceedings - IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003 (pp. 305-312). [1217936] (Proceedings - IEEE Conference on Advanced Video and Signal Based Surveillance, AVSS 2003). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AVSS.2003.1217936