Vision based localization of a small UAV for generating a large mosaic image

Taro Suzuki*, Yoshiharu Amano, Takumi Hashizume

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)


This paper describes a way to generate mosaic image using a small lightweight UAV for effective remote sensing. Payload limits are the source of most error in small lightweight UAVs to generate accurate mosaic images. We have overcome inherent small lightweight UAV drawbacks by providing them with integration of a GPS receiver, inertial sensors, and an image sensor to generate a large mosaic image. Position and attitude data of a UAV is estimated using onboard sensors and image correlation from SIFT features between overlapped images. A nonlinear optimization algorithm is used to optimize the position and attitude of the UAV. We demonstrated that our proposed mosaic image effectively enables low-cost remote sensing using a small lightweight UAV.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages5
ISBN (Print)9784907764364
Publication statusPublished - 2010 Jan 1

Publication series

NameProceedings of the SICE Annual Conference


  • Localization
  • Mosaic image
  • SIFT feature
  • UAV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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