UAV Pose Estimation Based on Prior Information and RANSAC Algorithm

Abstract

In the autonomous flight of unmanned aerial vehicles (UAVs), real-time acquisition of its pose information is the basis for navigation and control. For the pose estimation of UAVs, this paper proposes a RANSAN algorithm based on prior information to implement the pose estimate of UAVs. This method firstly uses the SURF algorithm to process the sequence images acquired by the UA V in different angles of the same target area in the actual flight to achieve the extraction and matching of feature points between the images. With the assistance of the pose information provided by the GPS and IMU systems, the RANSAC algorithm combined with the five-point algorithm is used to obtain the corresponding pose information of the UA V at each moment. Experiments show that this method is more accurate than simply using visual information or GPS and IMU system to realize the pose estimation of UA V. It can meet the needs of the actual projects within the allowable range of error, and can enrich the pose estimation theory of UA V to some extent.