3D成像视觉引导系统

3D imaging visual guidance system

为开发设计视觉引导系统,采用小型无人机平台,系统的传感器信息来源于微软推出的Kinect体感外设,其具有特殊的三维成像功能以及非常优秀的平面与景深数据融合能力。无人机平台搭载传感器,数传电台向地面站传回景深数据以及RGB彩色图像数据,地面站基于OpenNI,OpenGL等第三方API完成所有计算机图像处理任务,地面站将依据图像处理结果解算出飞行参数传回无人机。其中的图像处理任务即包括实现目标物自动识别追踪,三维空间重构等视觉引导任务。这些功能一个或多个组合使用可以应用于复杂地质环境室内环境搜救,近距离打击等任务。

In order to develop and design the visual guidance system of small aircraft and mobile platform. sensor information of the system is from Microsoft Kinect somatosensory peripherals with the three-dimensional imaging capability and data fusion capabilitie of plane and depth of field. UAV platform is equipped with sensors, and the digital transmission radio returns the depth of field data to the ground station as well as RGB color image data, then the ground station complete the computer image processing tasks based on the OpenNI, OpenGL and other third-party APIs.At last, the ground station will solver the flight parameters UAV needs based on the results of image processing. Those image processing tasks include functions as target automatic recognition tracking, reconstruction of three-dimensional space. The combination of one or more of those features can be applied to searching, rescueing and close-combat tasks in complex geological environment and indoor environment.