{
  "$type": "site.standard.document",
  "description": "A method and system for navigation of an unmanned aerial vehicle (UAV) (110) in an urban environment (120) are provided. The method comprises capturing a first set of Global Positioning System (GPS)-tagged images in an initial fly-over of the urban environment at a first altitude (A), with each of…",
  "path": "/patents/974566",
  "publishedAt": "2014-05-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C21/005",
    "HONEYWELL INT INC [US]"
  ],
  "textContent": "A method and system for navigation of an unmanned aerial vehicle (UAV) (110) in an urban environment (120) are provided. The method comprises capturing a first set of Global Positioning System (GPS)-tagged images in an initial fly-over of the urban environment at a first altitude (A), with each of the GPS-tagged images being related to respective GPS-aided positions. The captured GPS-tagged images are stitched together into an image mosaic using the GPS-aided positions. A second set of images is captured in a subsequent fly-over of the urban environment at a second altitude that is lower than the first altitude. Image features from the second set of images are matched with image features from the image mosaic during the subsequent fly-over. A current position of the UAV relative to the GPS-aided positions is calculated based on the matched image features from the second set of images and the image mosaic.",
  "title": "Method and system for navigation of an unmanned aerial vehicle in an urban environment"
}