Abstract—This paper investigates using a novel method for UAV guide navigation based on scene matching. In order to have accurate and reliable navigation system, inaccurate information of inertial navigation system and image coordination is used to improve the navigation parameters. The scene matching process is provided using PIIFD method. Interest point detectors are used in order to extract the most important interest point. Then, this point is compared by assigning an orientation to each one. The PIIFD method is invariant to brightness variation and rotation. The drawback of this method is being inaccurate relative to viewpoint change which is solved using inertial navigation parameters.
Index Terms—UAV, PIIFD, scene matching, interest point.
The authors are with the Electrical Engineering Department, Amirkabir University of Technology, Hafez Ave., Tehran 15914, Iran (e-mails: mostafa.kazemi@gmail.com, majidbanayean@gmail.com, pourmohammad@aut.ac.ir; tel.: +98 21 64543392; fax: +98 21 66406469) .
Cite: Mostafa Kazemi, Majid Banaeyan, and Ali Pourmohammad, "UAV Navigation Based on PIIFD/INS Method," International Journal of Computer Theory and Engineering vol. 4, no. 2, pp. 283-287, 2012.
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