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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
  1. Download sample dataset, run the download script from project root directory:
bash download_data.sh
  1. 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