The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Download
Publications Copernicus
Download
Citation
Articles | Volume XXXVIII-1/C22
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 235–240, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-235-2011
Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci., XXXVIII-1/C22, 235–240, 2011
https://doi.org/10.5194/isprsarchives-XXXVIII-1-C22-235-2011

  06 Sep 2012

06 Sep 2012

MAV-BASED REAL-TIME LOCALIZATION OF TERRESTRIAL TARGETS WITH CM-LEVEL ACCURACY: FEASIBILITY STUDY

Y. Akhtman, A. Garg, and J. Skaloud Y. Akhtman et al.
  • TOPO Lab, École polytechnique fédérale de Lausanne, Lausanne, Switzerland

Keywords: UAVs, MAVs, Photogrammetry, Sensor Orientation, Direct Georeferencing

Abstract. We carry out a comprehensive feasibility study for a real-time cm-level localization of a predefined terrestrial target from a MAV-based autonomous platform. Specifically, we conduct an error propagation analysis which quantifies all potential error sources, and accounts for their respective contribution to the final result. Furthermore, we provide a description of a practical MAV system using the available technology and of-the-shelf components. We demonstrate that, indeed, the desired localization precision of a few centimeters may be realistically achieved under a set of necessary constraints.