UAV Localization Using Particle Filter

Preview of the results: https://www.youtube.com/watch?v=tcz_gFbivqA

The code was used with dataset available from zenodo: https://zenodo.org/record/1211730

Dependencies

• OpenCV 3.3+
• libboost
• GeographicLib
• Eigen3
• libgdal
• libcurl
• tbb

Running the project

1. Install the dependencies
2. Compile the project:

mkdir build
cmake ..
make

3. Download sample dataset, run the download script from project root directory:

bash download_data.sh

4. Run the localization, from project root:

./build/dataset-match --map-image dataset/urban/m_3809028_ne_15_1_20140720/m_3809028_ne_15_1_20140720.tif --dataset dataset/UL-200 --preview

TODO List

1. Remove dependency on GPU

2. Speed up runtime by using FastMATCH approach to calculate similarity: random pixel sampling with photometric invariance