A Method of Waypoint Selection in Aerial Images for Vision Navigation

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijo/volume-2014/161026/figures/161026.fig.002a.svgz" name="161026.fig.002a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Original image <svg height="9.04777pt" id="M21" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -8.99795 5.91998 9.04777" width="5.91998pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M405 650H141L135 622C222 616 230 610 215 535L133 116C118 41 113 33 29 28L23 0H289L295 28C209 33 205 40 219 116L298 535C312 609 317 616 399 622L405 650Z" id="g113-74"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="428" vert-adv-y="428"></glyph.data></g></svg></td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijo/volume-2014/161026/figures/161026.fig.002b.svgz" name="161026.fig.002b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Low-rank image <svg height="9.04777pt" id="M22" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -8.99795 9.65971 9.04777" width="9.65971pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M686 28C612 35 607 44 591 112C563 234 541 360 519 489L489 666L457 658L147 121C100 40 89 36 24 28L17 0H240L250 28C168 34 159 41 190 101L262 237H482C495 180 503 137 510 91C517 47 514 35 441 28L433 0H677L686 28ZM475 280H285L429 541H431L475 280Z" id="g113-66"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="703" vert-adv-y="703"></glyph.data></g></svg></td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijo/volume-2014/161026/figures/161026.fig.002c.svgz" name="161026.fig.002c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Sparse image <svg height="9.04777pt" id="M23" style="vertical-align:-0.04981995pt" version="1.1" viewbox="-0.0498162 -8.99795 8.47659 9.04777" width="8.47659pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M593 650H142L136 622C219 616 224 611 209 531L130 120C114 39 108 34 23 28L17 0H501C518 32 557 130 568 158L540 169C519 132 495 93 469 70C439 43 409 35 332 35C272 35 241 37 225 50C211 61 211 89 222 149L253 320H350C441 320 443 312 441 239H471L510 434H481C455 366 448 358 360 358H260L303 572C311 613 312 615 348 615H431C509 615 522 603 532 581C544 555 546 531 545 491L574 493C583 555 592 631 593 650Z" id="g113-70"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="616" vert-adv-y="616"></glyph.data></g></svg></td></tr></table>

International Journal of Optics

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Figure 2

Figure 2: A Method of Waypoint Selection in Aerial Images for Vision Navigation 