An aerial vehicle is navigated using hierarchical vision-aided navigation that classifies regions of acquired still image frames as featureless or feature-rich, and thereby avoids expending time and computational resources attempting to extract and match false features from the featureless regions. Pattern recognition registers an acquired image to a general area of a map database before performing feature matching to a finer map region. This hierarchical position determination is more efficient than attempting to ascertain a fine-resolution position without knowledge of coarse-resolution position. Resultant matched feature observations can be data-fused with other sensor data to correct a navigation solution based on GPS and/or IMU data.
VISION-AIDED AERIAL NAVIGATION
2018-11-15
Patent
Electronic Resource
English
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