A fuzzy-based threshold method applied in SIFT for visual navigation of small UAVs

Author

Wang, Chaolei ; Wang, Tianmiao ; Liang, Jianhong ; Chen, Yang ; Wang, Cong

Author_Institution

Robot. Inst., Beihang Univ., Beijing, China

fYear

2012

fDate

18-20 July 2012

Firstpage

807

Lastpage

812

Abstract

In this paper, a fuzzy-based threshold method is proposed in image processing of SIFT which is used in visual navigation of small UAVs. By adjusting the thresholds of SIFT online fuzzily, it provides a stable number of features detected from aerial image sequence. The visual navigation estimates the motion of the small UAV by tracking and matching these features extracted from the consecutive image frames. Real experiments verify the stability and advantage of this method in comparison with the fixed and PID-based threshold methods. This proposed method is able to stabilize the number of features regardless of the changes of the aerial images.

Keywords

aerospace computing; autonomous aerial vehicles; control engineering computing; feature extraction; fuzzy set theory; image matching; image sequences; motion estimation; object tracking; path planning; three-term control; PID-based threshold methods; SIFT; aerial image sequence; feature matching; feature tracking; features detection; fixed-based threshold methods; fuzzy-based threshold method; image frames; image processing; motion estimation; small UAV; unmanned aerial vehicles; visual navigation; Feature extraction; Helicopters; Image sequences; Navigation; Niobium; Visualization; SIFT; fuzzy-based thresholding; small UAVs; visual navigation;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2012 7th IEEE Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4577-2118-2

Type

conf

DOI

10.1109/ICIEA.2012.6360835

Filename

6360835