INDOORS UAV LOCALIZATION BASED ON VISUAL GEOMETRIC FEATURES AND KNOWN ENVIRONMENT 3D MODEL
In this paper algorithm description for quadrorotor-type UAV’s indoors visual localization based on comparison of the edges recieved from video camera image and from simulated image, obtained on the base of known 3D model of environment (quarters), is given. At the end of the paper the results of experimens based on simulating in Gazebo environment are indicated.