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Research on visual autonomous navigation indoor for unmanned aerial vehicle

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Abstract

The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments.

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Authors and Affiliations

  1. Department of Control Engineering, Academy of Armored Forces Engineering, Beijing, 100072, China

    Yang Zhang  (张 洋), Qiang Lü  (吕 强), Huican Lin  (林辉灿) & Jianye Ma  (马建业)

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  1. Yang Zhang  (张 洋)
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  2. Qiang Lü  (吕 强)
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  3. Huican Lin  (林辉灿)
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  4. Jianye Ma  (马建业)
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Correspondence to Yang Zhang  (张 洋).

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Zhang, Y., Lü, Q., Lin, H. et al. Research on visual autonomous navigation indoor for unmanned aerial vehicle. J. Shanghai Jiaotong Univ. (Sci.) 22, 252–256 (2017). https://doi.org/10.1007/s12204-017-1829-1

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  • DOI: https://doi.org/10.1007/s12204-017-1829-1

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