基于点线对应的无人机位姿估计算法

Pose Eatiamtion from Point and Line Correspondences of UAV

针对无人机着陆,提出了一种基于视觉的辅助着陆方法,仅利用跑道两条边缘线和一条横向着陆阈值线引导着陆;利用跑道上的这三条直线之间的几何约束关系,可求出三条线之间的交点在摄像机系中的坐标,再考虑消失点的特性可求得三条线在摄像机系中的向量;最后使用Umeyama方法求出三个姿态角,并利用点的共面性特性得到了无人机相对跑道位置的鲁棒解;仿真中姿态误差均保持在0.5°的范围,横向和高度误差在1m以内,处理一帧图像平均耗时1.3ms,因此,提出的视觉辅助无人机着陆的方法精度高、实时性好。

In order to assist landing of Unmanned Aircraft Vehicle （UAV）, a vision--based method is proposed, which only makes use of the two edge lines and the threshold line on the runway. After the geometric constraints among the three lines are found out the coordina tines of the points of intersection of the three lines and in the camera frame are solved, and the vectors of the three lines in the camera frame can be obtained using the vanishing point. The attitudes are solved by the Umeyama method, and the position vector of the UAV can be cal culated by the coplanarity characteristic. Simulation results show the proposed algorithm is accurate and fast.