Drone Autonomous Navigation by Hardware Image Processing

José R. Garcia Braga, Haroldo F. Campos Velho, Elcio H. Shiguemori, Patrick Doherty


Our approach for autonomous navigation is to apply image processing for estimating the drone position. Two techniques are employed: visual odometry, and computer vision. Edge detection is one important step for computer vision, and it is performed by neural network implemented on FPGA. After image segmentation, a correlation between satellite image - or reference image - and image obtained by the drone is computed. Finally, the positioning by visual odometry and computer vision are combined using a new formulation of particle filter. Our results show better results in comparison with other edge identification procedures, implying in a more precise trajectory correction.

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ISSN 2591-3522