Automatic Detection of Complex Shaped Buildings in Aerial Images to Support the Navigation of Micro Aerial Vehicles in Urban Environment

摘要

In areas with insufficient GPS reception, like in urban areas close to buildings, alternative techniques have to be used to assist the inertial navigation system. The long-term objective of this work is to use buildings, detected in camera images, as distinctive landmarks for navigating micro aerial vehicles within the aforementioned areas. This paper presents a new method to detect buildings in aerial images. To use this algorithm onboard the vehicle during the mission, it has to be fast and executed automatically without readjusting any parameters by the operator. To cover a wide range of possible application areas, no building constraints are required. Therefore a wide variation of buildings with complex shapes can be detected.