A survey on vision-based UAV navigation
A survey on vision-based UAV navigation
复制标题
基于视觉的无人机导航研究综述
DOI：
10.1080/10095020.2017.1420509
复制
发表时间：
2018-01-01
影响因子：
6
通讯作者：
Zhang, Liangpei
中科院分区：
文献类型：
--
作者：
Lu, Yuncheng;Xue, Zhucun;Zhang, Liangpei
摘要无人机在工业检测、测绘遥感、救援等领域得到了广泛的应用，但其自主导航能力有限，严重制约了无人机在无GPS区域等复杂环境中的应用。此前，研究人员主要关注使用激光或雷达传感器进行无人机导航。随着计算机视觉技术的迅速发展，基于视觉的方法由于采用了更廉价、更灵活的视觉传感器，在无人机导航领域显示出了巨大的优势。本文的目的是提出一个全面的文献综述的视觉为基础的无人机导航方法。具体研究了视觉导航中的视觉定位与地图构建、避障与路径规划等关键技术。此外，本文还对无人机导航的前景和面临的挑战进行了展望。
Abstract Research on unmanned aerial vehicles (UAV) has been increasingly popular in the past decades, and UAVs have been widely used in industrial inspection, remote sensing for mapping & surveying, rescuing, and so on. Nevertheless, the limited autonomous navigation capability severely hampers the application of UAVs in complex environments, such as GPS-denied areas. Previously, researchers mainly focused on the use of laser or radar sensors for UAV navigation. With the rapid development of computer vision, vision-based methods, which utilize cheaper and more flexible visual sensors, have shown great advantages in the field of UAV navigation. The purpose of this article is to present a comprehensive literature review of the vision-based methods for UAV navigation. Specifically on visual localization and mapping, obstacle avoidance and path planning, which compose the essential parts of visual navigation. Furthermore, throughout this article, we will have an insight into the prospect of the UAV navigation and the challenges to be faced.