Research on Autonomous Navigation Algorithm of UAV Based on Visual SLAM

Kai Huang, Jinming Zhang, Wei Zhang, Daoyang Xiong, Weiwei Wang, Senyu Song

2025

Abstract

In this paper, the autonomous navigation algorithm of UAV based on visual SLAM is studied to improve the accuracy of autonomous positioning of UAV in complex environments and improve its ability to construct maps. To do this, it is necessary to use the installed camera and IMU unit to record images and IMU data in real time. Then, the ORB method is used to extract and match the features, and the autonomous navigation algorithm is used to expand the pose estimation, and the Bundle Adjustment is used to optimize it. The results of this paper show that in the indoor environment, the final pose difference after closed-loop optimization has been significantly reduced by 0.08 meters, and the map reconstruction accuracy has reached 0.03 meters. In the outdoor environment, the final positioning error is also significantly reduced by 0.09 meters, and the map reconstruction accuracy is 0.05 meters. After experiments, it can be seen that the SLAM-based autonomous navigation algorithm in this study can show good adaptability and robustness in different environments. The research in this paper will provide reliable theoretical and practical support for the further development of UAV autonomous navigation technology.

Paper Citation

in Harvard Style

Huang K., Zhang J., Zhang W., Xiong D., Wang W. and Song S. (2025). Research on Autonomous Navigation Algorithm of UAV Based on Visual SLAM. In Proceedings of the 3rd International Conference on Futuristic Technology - Volume 1: INCOFT; ISBN 978-989-758-763-4, SciTePress, pages 157-163. DOI: 10.5220/0013537400004664

in Bibtex Style

@conference{incoft25,
author={Kai Huang and Jinming Zhang and Wei Zhang and Daoyang Xiong and Weiwei Wang and Senyu Song},
title={Research on Autonomous Navigation Algorithm of UAV Based on Visual SLAM},
booktitle={Proceedings of the 3rd International Conference on Futuristic Technology - Volume 1: INCOFT},
year={2025},
pages={157-163},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013537400004664},
isbn={978-989-758-763-4},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 3rd International Conference on Futuristic Technology - Volume 1: INCOFT
TI - Research on Autonomous Navigation Algorithm of UAV Based on Visual SLAM
SN - 978-989-758-763-4
AU - Huang K.
AU - Zhang J.
AU - Zhang W.
AU - Xiong D.
AU - Wang W.
AU - Song S.
PY - 2025
SP - 157
EP - 163
DO - 10.5220/0013537400004664
PB - SciTePress