Table of Contents Author Guidelines Submit a Manuscript
International Journal of Optics
Volume 2014, Article ID 161026, 8 pages
Research Article

A Method of Waypoint Selection in Aerial Images for Vision Navigation

School of Automation, Northwestern Polytechnical University, Xi’an 710072, China

Received 1 June 2014; Revised 26 August 2014; Accepted 14 September 2014; Published 8 October 2014

Academic Editor: Nicusor Iftimia

Copyright © 2014 Lin Song et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We present a novel method to select waypoints from aerial images of candidate flying regions via matching suitability analysis, which is based on visual attention mechanism and feature attribute classification. At first, visual attention mechanism is used to get the saliency map of the initial image by low-rank recovery and sparse coding. The salient regions are selected to be as preparatory results with threshold constraint and nonmaxima suppression. Then we use support vector machine (SVM) to divide the preparatory results into two classes for suitable or unsuitable waypoints based on their feature attributes, which can be represented by two edge-based descriptors and two correlation-based descriptors. The experimental results show that the proposed method is valid and effective.