AeroMap3D combines a scale/yaw adapter, a frozen dense matcher, OSM-filtered DEM lifting, and an EKF to achieve 5.88 m mean 3D localization error over 55 km of UAV flight using only public maps.
Magnetometer calibration for small unmanned aerial vehicles using cooperative flight data.Sensors, 20(2):538, 2020
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AeroMap3D: Anchoring Monocular UAV 6-DoF Localization to Visual-Geometric-Semantic Map Priors
AeroMap3D combines a scale/yaw adapter, a frozen dense matcher, OSM-filtered DEM lifting, and an EKF to achieve 5.88 m mean 3D localization error over 55 km of UAV flight using only public maps.