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Among the image features for object recognition, speeded up robust features (SURF) have been widely implemented due to their hardware-friendly characteristics and high accuracy. However, because adopting a fully internal memory-based architecture and a field programmable gate array having large memories for a high performance, most of them are infeasible to the application specific integrated chip...
Presented is a robust visual lock-on framework for an unmanned aerial vehicle (UAV) that utilises geometric relations between the UAV pose and the 3D local map defined by the positions of the target and natural landmarks. Experimental results using real datasets demonstrate the robustness of the proposed method compared to state-of-the-art visual tracking methods.
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