Abstract

Positioning control of UAV is one of the research areas of autonomous navigation. Regional feature matching algorithm is commonly used in the positioning control of UAVs. This paper proposes a regional feature matching algorithm, in which edges and gray-levels within image regions are extracted. The correspondences between regional features are then obtained in terms of invariant moments and chain-code representation of regions. The transformation parameters are estimated based on the centers of gravity of regions. Experimental results show the effectiveness of the proposed algorithm using salient regional features.

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