US US20260064120A1
A technique for localization of an unmanned aerial vehicle (UAV) includes: acquiring aerial images of a terrain below the UAV with an onboard camera system of the UAV while the UAV is flying a mission along a preplanned route over the terrain; generating a current optical flow map based upon image pixel motion between consecutive images in a sequence of the aerial images; comparing the current optical flow map to reference optical flow maps stored onboard the UAV, wherein the reference optical flow maps are precomputed from a model of the terrain along the preplanned route; and determining a position in at least two lateral dimensions based on the comparing.
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