@inproceedings{037672ced5e340eabd7fb09297785205,
title = "Landmark-aided localization for air vehicles using learned object detectors",
abstract = "This research presents a real time method to localize an aircraft without GPS using fixed landmarks observed from an optical sensor. The objective is to achieve practical navigation performance using available autopilot hardware and a downward pointing camera. Computer vision cascade object detectors are trained to detect selected landmarks prior to a flight. The method also explores aircraft localization using roads between landmark updates. During a flight, the aircraft navigates with inertial measurements and obtains measurement updates when landmarks are detected. Inertial measurements and information extracted from the aircraft{\textquoteright}s camera images are combined into an unscented Kalman filter to obtain an estimate of the aircraft{\textquoteright}s position and wind velocities.",
author = "DeAngelo, {Mark P.} and Horn, {Joseph F.}",
note = "Publisher Copyright: {\textcopyright} 2016, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.; AIAA Guidance, Navigation, and Control Conference, 2016 ; Conference date: 04-01-2016 Through 08-01-2016",
year = "2016",
language = "English (US)",
isbn = "9781624103896",
series = "2016 AIAA Guidance, Navigation, and Control Conference",
publisher = "American Institute of Aeronautics and Astronautics Inc, AIAA",
booktitle = "AIAA Guidance, Navigation, and Control Conference",
}