Visual Localization System Algorithm for UAV

The use of UAVs in modern industry and the agricultural sector is gaining more and more popularity. However, the GPS signal that is used for localization in the vast majority of cases and it might be unavailable or muffled. In many articles, this issue is proposed to be solved using visual localization. Therefore, most of the proposed methods are neither confirmed by real data nor have comprehensive solution. This article highlights a method for visual localization of UAVs based on the detection of key points, while both relative and absolute localization can be performed. The article also presents the results of experiments obtained during real UAV flights over various territories and at various altitudes.