The initialization performance of monocular visual positioning mounted on the UAVs will determine the accuracy of the entire visual navigation process of UAVs.In view of the long time-consum-ing and inaccurate initial posture and other problems during the visual positioning initialization process,a fast and accurate initialization method for visual positioning of UAVs based on the basic principles of multi-view geometry is realized with a combination of sliding windows,triangular constraints,multi-point perspective imaging and bundle adjustment method.Through the verification on the data set,the proposed method has achieved better results in time and initialization accuracy than the classic algorithms.
维普
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