Vision navigation with salient features for autonomous aircraft

Junwei Yu*, Nan Liu, Guicai Wang, Xiaobo Jin

*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceedingConference Proceedingpeer-review


A novel technique of vision-aided navigation for autonomous aircraft is presented in this paper. The aircraft's position and pose are estimated with several control points. The saliency descriptor of corner is defined and the control points are selected according their saliency. Control points are tracked in sequential images based on Fourier-Melline transform. The unscented Kalman filter is used to fuse the aircraft state information provided by the vision system and the inertial navigation system. Experiments show that the accuracy, efficiency and robustness of aircraft navigation system are improved with the proposed method.

Original languageEnglish
Title of host publicationAdvances in Mechatronics and Control Engineering
Number of pages5
Publication statusPublished - 2013
Externally publishedYes
Event2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012 - Guangzhou, China
Duration: 29 Nov 201230 Nov 2012

Publication series

NameApplied Mechanics and Materials
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482


Conference2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012


  • Aircraft navigation
  • Salient feature
  • Unscented kalman filter(UKF)
  • Vision location

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