Abstract:
This paper presents a method for localizing an Unmanned
Aerial Vehicle (UAV) using geo-referenced aerial images,
in case of GPS failure. When flying in urban environments
in low altitudes the inaccurate GPS localization has become
a major problem. The proposed method fuses measurements
from inertial sensors and visual odometer and perform image
registration process using the images captured by the onboard
down looking camera. A pre-built local orthomosaic map with
geotagged aerial images is used for the registration. The problem
of unreliable matches caused by the dynamic objects is addressed
in our approach. The experiment results show that it is possible
to localize the UAV in urban environments with a low margin of
error by using our method
