Campus Units

Electrical and Computer Engineering

Document Type

Article

Publication Version

Accepted Manuscript

Publication Date

9-1-2020

Journal or Book Title

IEEE Transactions on Neural Networks and Learning Systems

DOI

10.1109/TNNLS.2020.3015660

Abstract

Matching and registration between aerial images and prestored road landmarks are critical techniques to enhance unmanned aerial system (UAS) navigation in the global positioning system (GPS)-denied urban environments. Current registration processes typically consist of two separate stages of road extraction and road registration. These two-stage registration approaches are time-consuming and less robust to noise. To that end, in this article, we, for the first time, investigate the problem of end-to-end Aerial-Road registration. Using deep learning, we develop a novel attention-based neural network architecture for Aerial-Road registration. In this model, we construct two-branch neural networks with shared weights to map two input images into a common embedding space. Besides, considering that road features are sparsely distributed in images, we incorporate a novel multibranch attention module to filter out false descriptor matches from the indiscriminative background in order to improve registration accuracy. Finally, the results from extensive experiments show that compared with state-of-the-art approaches, the mean absolute errors of our approach in rotation angle and the translations in the x- and y-directions are reduced down by a factor of 1.24, 1.38, and 1.44, respectively. Furthermore, as a byproduct, our experimental results prove the feasibility of a neural network multitask learning approach to simultaneously achieve accurate Aerial-Road matching and registration, thus providing an efficient and accurate UAS geolocalization.

Comments

This is a manuscript of an article published as Wang, Teng, Ye Zhao, Jiawei Wang, Arun K. Somani, and Changyin Sun. "Attention-based road registration for GPS-denied UAS navigation." IEEE Transactions on Neural Networks and Learning Systems (2020). DOI: 10.1109/TNNLS.2020.3015660. Posted with permission.

Rights

© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Copyright Owner

IEEE

Language

en

File Format

application/pdf

Published Version

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