一种基于视觉的无人机自主着陆位姿估计方法研究
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摘要
针对无人机自主着陆这种应用场合,设计一种大图标嵌套小图标的人工地标,并基于该地标提出一种基于地标形状、颜色、二维矩阵的地标识别方法和基于共面四点的位姿参数解算方法。该方法在图像预处理,特征点提取获取原始点集后,使用RANSAC获取有效点集,然后利用得到的有效点集采用线性位姿解算方法求解得出单应性矩阵和外参矩阵,并以此为初始值进行Lenenberg-Marquardt非线性优化得到精确值。
Based on the application background of unmanned vehicle autonomous landing, designs a suitable landing landmark. The landing landmark is built with a large map and nested small icons to meet the different heights of landmark recognition and pose parameter calculation.Combining with the landmark designed, presents the digital image processing method of the visual navigation algorithm used. After the image preprocessing of the navigation system has been done, proposes a landmark identification and detection method based on the designed landmarks.
Based on the application background of unmanned vehicle autonomous landing, designs a suitable landing landmark. The landing landmark is built with a large map and nested small icons to meet the different heights of landmark recognition and pose parameter calculation.Combining with the landmark designed, presents the digital image processing method of the visual navigation algorithm used. After the image preprocessing of the navigation system has been done, proposes a landmark identification and detection method based on the designed landmarks.
引文
[1]谢钢.GPS原理与接收机设计[M].北京:电子工业出版社,2011.
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[4]Srikanth Saripalli,James F.Montgomery,Gaurav S.Sukhatme.Vision-based Autonomous Landing of an Unmanned Aerial Vehicle[A].Proceedings 2002 IEEE International Conference on Robotics and Automation[C],Washington,DC,USA,2002,3:2799-2804.
[5]Jay Hyuk Choi,Won-Suk Lee,Hyochoong Bang.Helicopter Guidance for Vision-based Tracking and Landing on a Moving Ground Target[C].International Conference on Control,Automation and Systems,2011:867-872.
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[9]冯焕飞.三维重建中的相机标定方法研究[D].重庆:重庆交通大学,2013,5.
[10]卢英,王慧琴,佟威,李俊杰.基于Harris-张正友平面标定法的摄像机标定算法[J].西安建筑科技大学学报,2014,12.
[2]秦永元.惯性导航[M].北京:科学出版社,2006.
[3]Srikanth Saripalli,James F Montgomery,Gaurav S.Sukhatme.Visually Guided Landing of an Unmanned Aerial Vehicle[J].IEEETransactions on Robotics and Automation,2003,19(3):371-380.
[4]Srikanth Saripalli,James F.Montgomery,Gaurav S.Sukhatme.Vision-based Autonomous Landing of an Unmanned Aerial Vehicle[A].Proceedings 2002 IEEE International Conference on Robotics and Automation[C],Washington,DC,USA,2002,3:2799-2804.
[5]Jay Hyuk Choi,Won-Suk Lee,Hyochoong Bang.Helicopter Guidance for Vision-based Tracking and Landing on a Moving Ground Target[C].International Conference on Control,Automation and Systems,2011:867-872.
[6]刘士清.一种基于灭影线的无人直升机位姿估计方法[J].计算机工程与应用,2004,9.
[7]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,2005,5.
[8]吴福朝.计算机视觉中的数学方法.北京:科学出版社,2008.
[9]冯焕飞.三维重建中的相机标定方法研究[D].重庆:重庆交通大学,2013,5.
[10]卢英,王慧琴,佟威,李俊杰.基于Harris-张正友平面标定法的摄像机标定算法[J].西安建筑科技大学学报,2014,12.