Localization in a global map is critical to success in many autonomous robot missions. This is particularly challenging for multi-robot operations in unknown and adverse environments. Here, we are concerned with providing a small unmanned ground vehicle (UGV) the ability to localize itself within a 2.5D aerial map generated from imagery captured by a low-flying unmanned aerial vehicle (UAV). We consider the scenario where GPS is unavailable and appearance-based scene changes may have occurred between the UAV's flight and the start of the UGV's mission. We present a GPS-free solution to this localization problem that is robust to appearance shifts by exploiting high-level, semantic representations of image and depth data. Using data gathered at an urban test site, we empirically demonstrate that our technique yields results within five meters of a GPS-based approach.
Distributed control and navigation system for quadrotor UAVs in GPS-denied environments
Institute for Systems Analysis of Russian Academy of Sciences（俄罗斯科学院系统分析研究所）；Soloviev Rybinsk State Aviation Technical University（索洛维约夫雷宾斯克国立航空技术大学）；NPP SATEK plus（SATEK plus公司）
Cross-Session 3D LiDAR and Camera Fusion for Robust Localization of Unmanned Aerial Vehicles in GPS-Denied Environments
School of Electrical and Data Engineering, University of Technology Sydney（悉尼大学电气与数据工程学院）；Institute of Aerospace Engineering and Technology, Duy Tan University（杜益大学航空航天工程与技术学院）；College of Engineering and Computer Science, VinUniversity（Vin大学工程与计算机科学学院）；Smart Green Transformation Center (GREEN-X), VinUniversity（Vin大学智能绿色转型中心 (GREEN-X)）；Department of Artificial Intelligence and Robotics, Sejong University（成均馆大学人工智能与机器人系）
Cooperative Localisation of a GPS-Denied UAV in 3-Dimensional Space Using Direction of Arrival Measurements
Australian National University（澳大利亚国立大学）；Hangzhou Dianzi University（杭州电子科技大学）；Data61-CSIRO（Data61联邦科学与工业研究组织）；Australian Defence Science and Technology Group（澳大利亚国防科学与技术集团）
Cooperative Localisation of a GPS-Denied UAV using Direction of Arrival Measurements
Research School of Engineering, Australian National University（澳大利亚国立大学工程研究学院）；Hangzhou Dianzi University（杭州电子科技大学）；Data61-CSIRO (formerly NICTA Ltd.)（Data61-CSIRO（原NICTA有限公司））；Australian Defence Science and Technology Group (DST Group)（澳大利亚国防科学与技术集团（DST集团））
Control and State Estimation of Vehicle-Mounted Aerial Systems in GPS-Denied, Non-Inertial Environments
Robotics, Intelligent Systems, and Control Lab, King Abdullah University of Science and Technology (KAUST), Thuwal, Saudi Arabia（机器人、智能系统与控制实验室，国王阿卜杜勒-阿齐兹大学科学与技术学院（KAUST），沙特阿拉伯图瓦尔）
UAV See, UGV Do: Aerial Imagery and Virtual Teach Enabling Zero-Shot Ground Vehicle Repeat
University of Toronto Robotics Institute（多伦多大学机器人研究所）；University of Toronto Institute of Aerospace Studies（多伦多大学航空航天研究学院）；Ingenuity Labs（Ingenuity实验室）；Department of Electrical and Computer Engineering（电气与计算机工程系）
Altitude-Adaptive Vision-Only Geo-Localization for UAVs in GPS-Denied Environments
Department of Precision Instrument, Tsinghua University（清华大学精密仪器系）；School of Aerospace Engineering, Beijing Institute of Technology（北京理工大学航天工程学院）；School of Instrumentation Science and Opto-electronics Engineering, Beijing Information Science and Technology University（北京信息科技大学仪器科学与光电工程学院）
Visual Heading Prediction for Autonomous Aerial Vehicles
Department of Computer Science at North Carolina A&T State University（北卡罗来纳A&T州立大学计算机科学系）；Department of Electrical and Computer Engineering at North Carolina A&T State University（北卡罗来纳A&T州立大学电气与计算机工程系）
Optimizing Indoor Farm Monitoring Efficiency Using UAV: Yield Estimation in a GNSS-Denied Cherry Tomato Greenhouse
Department of Mechanical Engineering, Ulsan National Institute of Science and Technology (UNIST)（机械工程系，乌山国立科学技术研究院）；Agricultural Robotics and Artificial Intelligence, Metafarmers（农业机器人与人工智能，Metafarmers）
AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation
School of Aerospace Engineering, Beijing Institute of Technology（北京理工大学航空航天工程学院）；Khalifa University Center for Autonomous Robotic Systems (KUCARS), Khalifa University（哈利法大学自主机器人系统中心（KUCARS））
Routing Unmanned Vehicles in GPS-Denied Environments
Center for Non-Linear Studies, Los Alamos National Laboratory（洛斯阿拉莫斯国家实验室非线性研究中心）；Dept. of Aerospace Engg., University of Cincinnati（辛辛那提大学航空航天工程系）；Dept. of Mechanical Engg., Texas A&M University（德克萨斯A&M大学机械工程系）
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
Department of Engineering Cybernetics, O. S. Bragstads Plass 2D, Norwegian University of Science and Technology (NTNU), Trondheim, Norway（工程 cybernetics 系，挪威科学技术大学（NTNU），特隆赫姆，挪威）
Threading the Needle: Test and Evaluation of Early Stage UAS Capabilities to Autonomously Navigate GPS-Denied Environments in the DARPA Fast Lightweight Autonomy (FLA) Program
University of Massachusetts Lowell（马萨诸塞大学洛厄尔分校）；New England Robotics Validation and Experimentation (NERVE) Center（新英格兰机器人验证与实验中心）
Nonlinear Deterministic Observer for Inertial Navigation using Ultra-wideband and IMU Sensor Fusion
Carleton University（卡尔顿大学）；The Hong Kong Polytechnic University（香港理工大学）；Georgia Institute of Technology（佐治亚理工学院）；Bowling Green State University（鲍灵格林州立大学）
Developing Smart MAVs for Autonomous Inspection in GPS-denied Constructions
College of Engineering, South China Agriculture University（华南农业大学工程学院）；College of Civil Aviation, Nanjing University of Aeronautics and Astronautics（南京航空航天大学民航学院）；College of Mechatronics and Control Engineering, Shenzhen University（深圳大学机电与控制工程学院）
UAV-assisted Visual SLAM Generating Reconstructed 3D Scene Graphs in GPS-denied Environments
University of Luxembourg（卢森堡大学）；Interdisciplinary Centre for Security, Reliability, and Trust (SnT)（跨学科安全、可靠性与信任中心（SnT））；Faculty of Science, Technology, and Medicine, University of Luxembourg（卢森堡大学科学、技术与医学学院）
Skyeye Team at MBZIRC 2020: A team of aerial and ground robots for GPS-denied autonomous fire extinguishing in an urban building scenario
Service Robotics LaboratoryUniversidad Pablo de Olavide（塞维利亚大学服务机器人实验室）；Computer Vision and Aerial Robotics GroupCentre for Automation and Robotics (C.A.R.)Universidad Politécnica de Madrid (UPM-CSIC)（马德里理工大学（UPM-CSIC）自动化与机器人中心计算机视觉与空中机器人小组）；Universidad Pablo de Olavide（塞维利亚大学）；Universidad Politécnica de Madrid (UPM-CSIC)（马德里理工大学（UPM-CSIC））；Centre for Automation and Robotics (C.A.R.)（自动化与机器人中心（C.A.R.））；Computer Vision and Aerial Robotics Group（计算机视觉与空中机器人小组）；Service Robotics Laboratory（服务机器人实验室）
