Natural-Landmark Scene Matching Vision Navigation based on Dynamic Key-frame

To study a backup navigation scheme for allowing temporally GPS faults or degradations, this paper proposes a dynamic key-frame-based natural-landmark scene matching visual navigation method for UAV. Firstly, this method could autonomously describe and check featured natural landmarks by analyzing image sequence from on-board camera. After abstraction of key-frames including featured natural landmark, UAV will be located by the means of NLSM (Natural-Landmark Scene Matching) which based on dynamic key-frame. Additionally, this navigation scheme adopt inter-frame scene matching algorithm in order to improving the navigation performance of accuracy, reliability and runtime. Experiments show that the vision based backup navigation scheme proposed fitted the requirements of navigation in complex and unknown environment for UAV.