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Technical report from Automatic Control at Linköpings universitet Geo-referencing for UAV Navigation using Environmental Classification Fredrik Lindsten, Jonas Callmer, Henrik Ohlsson, David Törnqvist, Thomas B. Schön, Fredrik Gustafsson Division of Automatic Control E-mail: lindsten@isy.liu.se, callmer@isy.liu.se, ohlsson@isy.liu.se, tornqvist@isy.liu.se, schon@isy.liu.se, fredrik@isy.liu.se 25th May 2010 Report no.: LiTH-ISY-R-2957 Accepted for publication in 2010 IEEE International Conference on Robotics and Automation (ICRA) Address: Department of Electrical Engineering Linköpings universitet SE-581 83 Linköping, Sweden WWW: http://www.control.isy.liu.se AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET Technical reports from the Automatic Control group in Linköping are available from http://www.control.isy.liu.se/publications . Abstract A UAV navigation system relying on GPS is vulnerable to signal failure, making a drift free backup system necessary. We introduce a vision based geo-referencing system that uses pre-existing maps to reduce the long term drift. The system classies an image according to its environmental con- tent and thereafter matches it to an environmentally classied map over the operational area. This map matching provides a measurement of the absolute location of the UAV that can easily be incorporated into a sensor fusion framework. Experiments show that the geo-referencing system re- duces the long term drift in UAV navigation, enhancing the ability of the UAV to navigate accurately over large areas without the use of GPS. Keywords: Geo-referencing, localization, UAV, classication Geo-referencing for UAV Navigation using Environmental Classi