|
|
- 2016
新型的无人机自主着陆地标设计与研究
|
Abstract:
在基于计算机视觉的无人机自主着陆过程中，地标的设计与检测以及无人机位姿估计是其中的关键问题。该文提出了一种基于极坐标变换的无人机位姿估计算法，并设计了新型的着陆地标。首先，充分利用极坐标所需参数少、计算简单的优点，将极坐标变换运用到位姿估计算法中，由此设计了半圆环形状的着陆地标；其次，利用显著性检测算法对地标进行检测，并利用Hough算法提取所检测到的地标中的直线；最后，实验结果表明该算法准确快速，且适用于复杂背景的情况，该地标在无人机自主着陆中是可行的。
| [1] | YANG Fan, SHI Hai-qing, WANG Hong. A vision-based algorithm for landing unmanned aerial vehicles[C]//International Conference on Computer Science and Software Engineering.[S.l.]:IEEE, 2008:993-996. |
| [2] | XU Gui-li, ZHANG Yong, JI Sheng-yu, et al. Research on computer vision-based for UAV autonomous landing on a ship[J]. Pattern Recognition Letters, 2009, 30:600-605. |
| [3] | JAN I U, KHAN M. U, IQBAL N. Combined application of Kalman filtering and correlation towards autonomous helicopter landing[C]//2nd International Conference on Computer, Control and Communication. Karachi, Pakistan:IEEE, 2009:1-6. |
| [4] | BAGEN Wu-lan, HU Ji-zhong, XU Yuan-ming. A vision-based unmanned helicopter ship board landing system[C]//2nd Image and Signal Processing. Tianjing, China:IEEE, 2009:12-15. |
| [5] | JUNG Youe-yun, LEE Dong-jin, BANG Hyo-choong. Close-range vision navigation and guidance for rotary UAV autonomous landing[C]//IEEE International Conference on Automation Science and Engineering (CASE). Gothenburg, Sweden:IEEE, 2015:342-347. |
| [6] | 张广军, 周富强. 基于双圆特征的无人机着陆位置姿态视觉测量方法[J]. 航空学报, 2005, 26(3):344-348. ZHANG Guang-jun, ZHOU FU-qiang. Position and orientation estimation method for landing of unmanned aerial vehicle with two circle based computer vision[J]. Acta Aeronautica et Astronautica Sinica, 2005, 26(3):344-348. |
| [7] | CUI Xu, QIU Lian-kui, LIU Ming, et al. Stereo vision based relative pose and motion estimation for unmanned helicopter landing[C]//IEEE International Conference on Robotics and Automation. Shandong, China:IEEE, 2006:31-36 |
| [8] | LUO Ke-zheng, MIAO Huan-zhou, WANG Lang. Recognition algorithm of landmark for quadrotors aircraft based on image feature of corner points[C]//IEEEInternational Conference on Information and Automation. Lijiang, China:IEEE, 2015:1437-1440. |
| [9] | TSAI A, GIBBENS P, STONE R. Terminal phase vision-based target recognition and 3D pose estimation for a tail-sitter, vertical takeoff and landing unmanned air vehicle advances in image and video technology[J]. Advance in Image and Video Technology, 2006, 43(19):672-681. |
| [10] | SARIPALLI S, MONTGOMERT J F, SUKHATME G S. Vision-based autonomous landing of an unmanned aerial vehicle[C]//Proceedings of the 2002 IEEE International Conference on Robotics & Automation. Washington DC, USA:IEEE, 2002. |
| [11] | MERZ T, DURANTI S, CONTE G. Autonomous landing of an unmanned helicopter based on vision and inertial sensing[C]//The 9th International Symposium on Experimental Robotics Series. Berlin Heidelberg:Springer, 2006:343-352. |
| [12] | FENG Lin, CHEN B M, LEE T H. Vision aided motion estimation for unmanned helicopters in GPS denied environment[C]//IEEE Conference on Cybernetics and Intelligent Systems. Singapore:IEEE, 2010:64-69. |
| [13] | LANGE S, SUNDERHAUF N, PROTZEL P. A vision based onboard approach for landing and position control of an autonomous multirotor UAV in GPS-denied environments[C]//International Conference on Advanced Robotics. Munich:IEEE, 2009:1-6. |
| [14] | VERBANDT M, THEYS B, De SCHUTTER J. Robust marker-tracking system for vision-based autonomous landing of VTOL UAVs[C]//International Micro Air Vehicle Conference and Competition. Delf, Holland:Delft University of Technology, 2014:84-91. |
| [15] | ZENG Fu-cen, SHI Hai-qing, WANG Hong. The object recognition and adaptive threshold selection in the vision system for landing an unmanned aerial vehicle[C]//International Conference on Information and Automation. Zhuhai/Macau, China:IEEE, 2009:117-122. |
| [16] | ACHANTA R, HEMAMI S, ESTRADA F, et al. Frequency-tuned salient region detection[C//IEEE Conference on Computer Vision and Pattern Recognition (CVPR). Miami, FL, USA:IEEE, 2009:1597-1604. |
| [17] | 任沁源, 李平, 韩波. 基于视觉信息的微型无人直升机位姿估计[J]. 浙江大学学报(工学版), 2009, 43(1):18-22. REN Qin-yuan, LI Ping, HAN Bo. Vision-based mini unmanned helicopter pose and position estimation[J]. Journal of Zhejiang University (Engineering Science), 2009, 43(1):18-22. |
