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With the development of computer vision technology, many researches about feature detectors and descriptors have been published in the last decades. In order to explore what kind of approaches are appropriate for unmanned aerial vehicle (UAV) onboard video processing, the popular feature detectors and descriptors are analyzed and combined with each other. Three practical videos captured in indoor...
This article mainly focuses on the vision-based obstacle avoidance of unmanned aerial vehicle (UAV). Detecting the obstacle and controlling the UAV to avoid it are two key modules in the sense-and-avoid system. We adopt a bio-inspired human vision algorithm called saliency method to realize the automatic detection. Furthermore, this article proposes a reference yaw angle calculator algorithm based...
As the development of robot autonomous navigation, visual odometry gains more and more attention in the last few years. It can estimate the egomotion of a robot by analyzing the changes of the on-board camera view. This paper gives an overview of visual odometry and the development of its key technologies, such as feature detection, description and matching/tracking, camera pose estimation. The advantages...
This paper presents a new ground-based visual approach for guidance and safe landing of an unmanned aerial vehicle (UAV) in Global Navigation Satellite System(GNSS)-denied environments. In our previous work, the old system consists of one pan-tilt unit(PTU) with two cameras, whose detection range is limited by the baseline. To achieve long-range detection and cover wide field of regard, we mounted...
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