Image-Based Reliable Object Localization of UAV Cooperating with Ground Vehicle

Seokjun Lee, Chungjae Choe, Nakmyung Sung

Abstract: Localization of target object in UAV becomes critical factor to accomplish missions successfully such as human rescuing, hazardous substance detection, and suspect tracking. To this end, a number of research have been conducted but there is inherent limitation due to camera distortion or diverse geographical features. In this paper, we utilize the location of ground vehicle and the distance from target object to estimate the location of target. The thorough experiments with real image data verifies that our algorithm can infer the target’s location with error of 4.86 m ± 1.74 m. We believe that the proposed scheme can be used along with any previous works in complementary manner.