一种基于Hough变换求解无人机滚转角的方法

A method to obtain roll of UAV based on Hough transform

提出了一种在无人机进场着陆段中根据机器视觉所得的数字图像获取无人机滚转角的方法。首先对摄像机所获得图像进行一系列预处理(中值滤波、边缘检测等),然后利用Hough变换获取图像中的直线,并根据其他的约束条件从这些直线中获得地平线,最后通过最小二乘法获得无人机滚转角。

This paper discusses a method to obtain roll of UAV based on machine vision in the course of landing.Firstly,images from camera are processed by median filter、edge detection and so on.Secondly,we use Hough transform to gain lines in the images,and gain horizon from these lines according to some finite conditions.Lastly,roll of UAV is obtained by Least Square.