基于计算机视觉的无人直升机位姿估计方法研究

Study on computer vision-based approaches to estimate position and orientation of unmanned helicopter

无人直升机与着陆点的相对位置和姿态估计是其实现自主着陆的前提条件,采用计算机视觉技术完成该任务是当前的发展趋势。介绍了基于计算机视觉技术的位姿估计方法的特点,对目前直升机自主着陆研究中采用的各种位姿估计方法做了分类并进行了评述,为类似的视觉系统的设计和相关问题的研究提供了参考。

The relative position and orientation estimation between an unmanned helicopter and a desired landing site is the pre-condition for its automatic landing, and it is the current tendency to complete this task by computer vision techniques. The charac-teristics of vision-based approaches to estimate relative position and orientation were sketched, and then the approaches in current researches on automatic unmanned helicopter landing were classified and reviewed, which provided reference for the design of similar vision systems and the research of relational problems.