A road intersection matching method based on triangular structure

In the UAV visual navigation and positioning system, the topological relationship between road intersections can provide an important basis for remote sensing image matching and localization. Therefore, this study proposes a road intersection matching method based on triangular structure, which constructs a semantic expression library of road intersection targets as a benchmark database for road intersection matching; and then formulates a matching strategy based on the triangular similarity principle with the salient features between road intersections to complete the accurate and efficient localization of road intersections. The simulation experiment results show that this algorithm is stable and robust, and is not affected by brightness, noise and view angle. Under the 6Km*6Km large scene matching condition, it takes 7.8S from intersection detection to intersection geolocation localization, correctly matches 8 road intersections, and meets the UAV localization requirements.