作者投稿和查稿 主编审稿 专家审稿 编委审稿 远程编辑

计算机工程 ›› 2009, Vol. 35 ›› Issue (14): 252-254. doi: 10.3969/j.issn.1000-3428.2009.14.088

• 开发研究与设计技术 • 上一篇    下一篇

基于双目视觉的小型无人直升机位姿检测

董培建,王 赓,盛焕烨,吕恬生   

  1. (上海交通大学计算机系,上海 200240)
  • 收稿日期:1900-01-01 修回日期:1900-01-01 出版日期:2009-07-20 发布日期:2009-07-20

Position and Attitude Measurement for Small Scale Unmanned Helicopter Based on Binocular Vision

DONG Pei-jian, WANG Geng, SHENG Huan-ye, LV Tian-sheng   

  1. (Department of Computer Science, Shanghai Jiaotong University, Shanghai 200240)
  • Received:1900-01-01 Revised:1900-01-01 Online:2009-07-20 Published:2009-07-20

摘要: 无人直升机的位置与姿态检测是直升机自主飞行控制的基础。基于双目视觉原理,对直升机标志点进行检测并跟踪,利用基于顺序一致性的极线约束匹配方法,对检测到的多个标志点进行立体匹配,计算标志点三维坐标从而得到无人直升机的位置与姿态信息。设计一个基于双目视觉的小型无人直升机空间位姿测量托架,用于飞行控制模型及飞行控制算法的研究及验证。

关键词: 无人直升机, 位姿检测, 双目视觉, 飞行控制

Abstract: The position and attitude of unmanned helicopter is the basis of autonomous flight control of helicopter. This paper calculates the three-dimension coordinates and attitude of the unmanned helicopter’s marking-points based on the principle of binocular vision, by detecting and tracking marking-points, and matching the marking-points using an algorithm called constraint of epipolar based on order of consistency. A platform based on binocular vision for taking experiment of controlling small unmanned autonomous helicopter is designed, which can be used to verify flight control model and algorithms.

Key words: unmanned helicopter, position and attitude measurement, binocular vision, flight control

中图分类号: