セマンティックセグメンテーションによる衛星画像を用いたUAVの自己位置推定の精度向上

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  • Improving The Accuracy of Visual Localization for UAV Using Satellite Imagery by Semantic Segmentation

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<p>In this paper, we propose a method to accurately estimate the position of a UAV on satellite images by using the region information of buildings extracted by semantic segmentation for UAV pose estimation. The localization of UAV using satellite images is based on the similarity between images features using intensity information. However, the estimation accuracy of intensity information alone is degraded by changes in the seasons and moving objects. Therefore, in addition to the intensity information, the proposed meathod uses information on building areas extracted by semantic segmentation from overhead images to improve the accuracy of position estimation.</p>

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