电子学报2025，Vol.53Issue(3)：651-685,35.DOI:10.12263/DZXB.20240699
基于视觉的无人机定位与导航方法研究综述
A Review of Vision-Based UAV Localization and Navigation Methods
摘要
Abstract
As the cost of unmanned aerial vehicles(UAVs)decreases,they have attracted increasing research interest.UAVs are now widely applied in various fields,including agriculture,firefighting,surveying,aerial photography,and recre-ational applications.These applications require UAVs to perform autonomous flights with precise self-localization,typical-ly relying heavily on global navigation satellite systems(GNSS).However,GNSS has multiple shortcomings related to long-distance radio communications,such as non-line-of-sight reception,multi-path effects,and spoofing.This has driven the development of new methods to supplement or replace satellite navigation.Vision-based UAV localization and naviga-tion methods,utilizing onboard visual sensors for autonomous localization and navigation,have become crucial in address-ing this issue.This review contributes to the field by systematically reviewing vision-based UAV localization and naviga-tion technologies,providing a comprehensive summary of the current research landscape and developmental trends.First,it introduces vision-based UAV localization methods,which are categorized into image retrieval and feature matching ap-proaches.The technical characteristics,applicable scenarios,relevant datasets,and evaluation metrics of these methods are analyzed in detail.Second,this review elaborates on vision-based UAV navigation methods,distinguishing between obsta-cle detection and avoidance techniques and path planning methods based on their functional objectives,while highlighting the strengths and limitations of existing technologies.Finally,this review further discusses the potential challenges faced by vision-based UAV localization and navigation methods,including the lack of publicly available datasets,the need for hard-ware acceleration,the complexity of operating environments,real-time processing requirements,energy constraints,and the gap between simulated and real-world environments.关键词
无人机/视觉定位/视觉导航/机器视觉/图像匹配Key words
unmanned aerial vehicle(UAV)/vision-based localization/vision-based navigation/machine vision/image matching分类
信息技术与安全科学引用本文复制引用
谷美颖,李航,张家伟,百晓,郑锦..基于视觉的无人机定位与导航方法研究综述[J].电子学报,2025,53(3):651-685,35.基金项目
国家自然科学基金(No.62276016,No.62372029) National Natural Science Foundation of China(No.62276016,No.62372029) （No.62276016,No.62372029）
