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Contribution Details

Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title Micro air vehicle localization and position tracking from textured 3D cadastral models
Organization Unit
Authors
  • András L Majdik
  • Damiano Verda
  • Yves Albers-Schoenberg
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
ISSN 1050-4729
Page Range 920 - 927
Event Title IEEE International Conference on Robotics and Automation (ICRA)
Event Type conference
Event Location Hong Kong
Event Start Date May 31 - 2014
Event End Date June 7 - 2014
Series Name IEEE International Conference on Robotics and Automation. Proceedings
Place of Publication Hong Kong
Publisher Institute of Electrical and Electronics Engineers
Abstract Text In this paper, we address the problem of localizing a camera-equipped Micro Aerial Vehicle (MAV) flying in urban streets at low altitudes. An appearance-based global positioning system to localize MAVs with respect to the surrounding buildings is introduced. We rely on an air-ground image matching algorithm to search the airborne image of the MAV within a ground-level Street View image database and to detect image matching points. Based on the image matching points, we infer the global position of the MAV by back-projecting the corresponding image points onto a cadastral 3D city model. Furthermore, we describe an algorithm to track the position of the flying vehicle over several frames and to correct the accumulated drift of the visual odometry, whenever a good match is detected between the airborne MAV and the street-level images. The proposed approach is tested on a dataset captured with a small quadroctopter flying in the streets of Zurich.
Related URLs
Digital Object Identifier 10.1109/ICRA.2014.6906964
Other Identification Number merlin-id:10211
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