Real-Time Accurate Geo-Localization of a MAV with Omnidirectional Visual Odometry and GPS

  • Johannes SchneiderEmail author
  • Wolfgang Förstner
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8925)


This paper presents a system for direct geo-localization of a MAV in an unknown environment using visual odometry and precise real time kinematic (RTK) GPS information. Visual odometry is performed with a multi-camera system with four fisheye cameras that cover a wide field of view which leads to better constraints for localization due to long tracks and a better intersection geometry. Visual observations from the acquired image sequences are refined with a high accuracy on selected keyframes by an incremental bundle adjustment using the iSAM2 algorithm. The optional integration of GPS information yields long-time stability and provides a direct geo-referenced solution. Experiments show the high accuracy which is below 3 cm standard deviation in position.


Visual odometry Incremental bundle adjustment Fisheye camera Multi-camera system Omnidirectional MAV 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Department of PhotogrammetryUniversity of BonnBonnGermany

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