Monocular Pose Estimation for an Unmanned Aerial Vehicle Using Spectral Features

Pose estimation of Unmanned Aerial Vehicles (UAV) using cameras is currently a very active research topic in computer and robotic vision, with special application in GPS-denied environments. However, the use of visual information for ego-motion estimation presents several difficulties, such as features search, data association (feature correlation), inhomogeneous features distribution in the image, etc.

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