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

Taro Suzuki*, Yoshiharu Amano, Takumi Hashizume


研究成果: Conference contribution

30 被引用数 (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.

ホスト出版物のタイトルProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
出版社Society of Instrument and Control Engineers (SICE)
出版ステータスPublished - 2010 1月 1


名前Proceedings of the SICE Annual Conference

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学


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