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31 May 2022 MONST3R: miniature optical navigation system through 3D recognition
Joakim Rydell, Erika Bilock
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Proceedings Volume 12124, Unmanned Systems Technology XXIV; 1212405 (2022) https://doi.org/10.1117/12.2617717
Event: SPIE Defense + Commercial Sensing, 2022, Orlando, Florida, United States
Abstract
Accurate and robust navigation is vital for unmanned vehicles, even when GNSS (global navigation satellite systems, e.g., GPS) are unavailable or unreliable. In this paper we present MONST3R, a system for determining the absolute position and orientation of a UAV (unmanned aerial vehicle), by matching images from an onboard camera to a georeferenced 3D model of the operation area. The position is estimated by finding the position and orientation such that an image, rendered from the 3D model, is maximally similar to the image from the vehicle-mounted camera. Experimental results, which validate the method, are presented.
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Joakim Rydell and Erika Bilock "MONST3R: miniature optical navigation system through 3D recognition", Proc. SPIE 12124, Unmanned Systems Technology XXIV, 1212405 (31 May 2022); https://doi.org/10.1117/12.2617717
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KEYWORDS
3D modeling
Cameras
Unmanned aerial vehicles
Onboard cameras
Optical filters
Navigation systems
Optical navigation
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