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Single and multi-UAV localization based on natural landmarks

L. Merino, F. Caballero, Per-Erik Forssén, J. Wiklund, J. Ferruz, J. Ramiro Martinez-de Dios, A. Moe, K. Nordberg, A. Ollero
Springer book chapter
November 2007


This Chapter presents a vision-based method for unmanned aerial vehicle (UAV) motion estimation that uses as input an image motion field obtained from matches of point-like features. The Chapter enhances visionbased techniques developed for single UAV localization and demonstrates how they can be modified to deal with the problem of multi-UAV relative position estimation. The proposed approach is built upon the assumption that if different UAVs identify, using their cameras, common objects in a scene, the relative pose displacement between the UAVs can be computed from these correspondences under certain assumptions. However, although point-like features are suitable for local UAV motion estimation, finding matches between images collected using different cameras is a difficult task that may be overcome using blob features. Results justify the proposed approach.

Full Paper

Available on SpringerLink website.

Bibtex entry

  author = 	 {L. Merino and F. Caballero and Per-Erik Forss\'en and J. Wiklund and J. Ferruz and J. Ramiro Martinez-de Dios and A. Moe and K. Nordberg and A. Ollero},
  ALTeditor = 	 {},
  title = 	 {Single and multi-UAV localization based on natural landmarks},
  chapter = 	 {Chapter 9 in book: Advances in Unmanned Aerial Vehicles},
  publisher = 	 {Springer},
  year = 	 {2007},
  OPTkey = 	 {},
  volume = 	 {33},
  OPTnumber = 	 {},
  series = 	 {Intelligent Systems, Control and Automation: Science and Engineering},
  OPTtype = 	 {},
  OPTaddress = 	 {},
  OPTedition = 	 {},
  month = 	 {November},
  OPTpages = 	 {},
  isbn = 	 {978-1-4020-6113-4}

Per-Erik Forssén

Per-Erik Forssén


Computer Vision Laboratory
Department of Electrical Engineering
Building B
Room 2D:521
SE-581 83 Linköping, Sweden
+46(0)13 285654

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