Visual Localization with Google Earth Images for Robust Global Pose Estimation of UAVs
Bhavit Patel,Timothy D. Barfoot,Angela P. Schoellig,Bhavit Patel,Timothy D. Barfoot,Angela P. Schoellig
We estimate the global pose of a multirotor UAV by visually localizing images captured during a flight with Google Earth images pre-rendered from known poses. We metrically localize real images with georeferenced rendered images using a dense mutual information technique to allow accurate global pose estimation in outdoor GPS-denied environments. We show the ability to consistently localize throug...
