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Combination of Wide Baseline Image Matching and Tracking for Autonomous UAV Approaches to a Window

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Abstract—

In this paper, the problem of an autonomous unmanned aerial vehicle (UAV) approach to a target which is selected in a reference image is addressed. A robust matching algorithm is proposed to reliably project the selected point in the reference image into the live images of a quadrotor helicopter. Projective transformations are applied to the reference image to extract additional keypoints and to gain invariance to out-of-plane perspective transformations. Since the matching algorithm does not exploit the beneficial characteristics of image sequences and because its processing time is not short enough for high frame rates, a tracking algorithm is introduced. High detection rates even for image sequences with large viewpoint changes are achieved. Therefore, the presented algorithm can be used as input to a guidance algorithm for UAVs.

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Authors and Affiliations

  1. Institute of Systems Optimization (ITE), Karlsruhe Institute of Technology (KIT), Karlsruhe, Germany

    K. Mueller, J. Atman & G. F. Trommer

  2. ITMO University, Saint Petersburg, Russia

    G. F. Trommer

Authors
  1. K. Mueller
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  2. J. Atman
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  3. G. F. Trommer
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Correspondence to K. Mueller.

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Mueller, K., Atman, J. & Trommer, G.F. Combination of Wide Baseline Image Matching and Tracking for Autonomous UAV Approaches to a Window. Gyroscopy Navig. 10, 206–215 (2019). https://doi.org/10.1134/S2075108719040138

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  • DOI: https://doi.org/10.1134/S2075108719040138

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