基于视觉的无人机定位与导航方法研究综述

谷美颖; 李航; 张家伟; 百晓; 郑锦

doi:10.12263/DZXB.20240699

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基于视觉的无人机定位与导航方法研究综述

面向无人系统的智能视觉算法 | 更新时间：2025-12-08

- 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
- 电子学报 2025年53卷第3期页码：651-685
- 作者机构：
  
  1.北京航空航天大学计算机学院，北京 100191
  2.北京航空航天大学江西研究院，江西南昌 330000
- 作者简介：
  
  [ "谷美颖女，1998年12月出生于山东省德州市.现为北京航空航天大学博士研究生.主要研究方向为视觉定位. E-mail: gumeiying@buaa.edu.cn" ]
  [ "李航男，1998年4月出生于河南省洛阳市.现为北京航空航天大学博士研究生.主要研究方向为位姿估计、三维重建. E-mail: by2306053@buaa.edu.cn" ]
  [ "张家伟男，1998年1月出生于河北省石家庄市.现为北京航空航天大学博士研究生.主要研究方向为立体匹配、三维重建." ]
  [ "百晓男，1979年3月出生于北京市.现为北京航空航天大学计算机学院教授、博士生导师.主要研究方向为模式识别、计算机视觉、图像处理等. E-mail: baixiao@buaa.edu.cn" ]
  [ "郑锦女，1978年10月出生于四川省乐山市.现为北京航空航天大学计算机学院副教授、博士生导师.主要研究方向为计算机视觉、视频图像处理等. E-mail: JinZheng@buaa.edu.cn" ]
- 基金信息：
  
  国家自然科学基金(62276016;62372029)
- DOI：10.12263/DZXB.20240699
  中图分类号： TP391.4;V279
- 收稿：2024-07-26，
  
  修回：2025-01-22，
  
  纸质出版：2025-03-25
- 稿件说明：
移动端阅览
谷美颖, 李航, 张家伟, 等. 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(03): 651-685.

GU Mei-ying, LI Hang, ZHANG Jia-wei, et al. A Review of Vision-Based UAV Localization and Navigation Methods[J]. Acta Electronica Sinica, 2025, 53(03): 651-685.
谷美颖, 李航, 张家伟, 等. 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(03): 651-685. DOI：10.12263/DZXB.20240699

GU Mei-ying, LI Hang, ZHANG Jia-wei, et al. A Review of Vision-Based UAV Localization and Navigation Methods[J]. Acta Electronica Sinica, 2025, 53(03): 651-685. DOI：10.12263/DZXB.20240699

摘要

随着无人机（Unmanned Aerial Vehicle，UAV）成本的降低，无人机引起了越来越多的研究兴趣.其应用领域广泛，包括农业、消防、测绘、航拍以及娱乐应用.这些应用需要无人机在精准的自我定位下进行自主飞行，通常高度依赖于全球导航卫星系统（Global Navigation Satellite System，GNSS）.然而，GNSS在长距离无线电通信方面存在多种缺陷（如非视距接收、多路径效应、欺骗信号），这推动了补充或取代卫星导航新方法的发展.基于视觉的无人机定位与导航方法利用无人机搭载的视觉传感器，实现自主定位与导航，成为解决这一问题的重要途径.本文的贡献在于系统性地梳理了基于视觉的无人机定位与导航技术，全面总结了该领域的研究现状和发展趋势.首先，介绍了无人机视觉定位的方法，主要分为图像检索和图像匹配两类，并对其技术特点、适用场景以及相关数据集和评价指标进行了分析.其次，详细阐述了无人机视觉导航的方法，根据导航功能的不同分为障碍物检测与规避方法以及路径规划方法，揭示了现有技术的优势和局限.最后，进一步讨论了基于视觉的无人机定位与导航方法在公共可用数据集、硬件加速、环境复杂性、实时性要求、能源限制以及模拟器到真实世界的泛化等方面可能面临的挑战.

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 recreational applications. These applications require UAVs to perform autonomous flights with precise self-localization

typically 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 navigation methods

utilizing onboard visual sensors for autonomous localization and navigation

have become crucial in addressing this issue. This review contributes to the field by systematically reviewing vision-based UAV localization and navigation 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 approaches. 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 obstacle 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 hardware acceleration

the complexity of operating environments

real-time processing requirements

energy constraints

and the gap between simulated and real-world environments.

关键词

Keywords

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