摘要
小型无人机在无卫星导航条件下使用的需求日益强烈,采用立体视觉方法可满足无人机在复杂环境中的目标检测、跟踪与定位。研究了双目立体视觉系统标定、特征点检测提取与匹配、双目测距等技术,实现了对图像中的指定目标进行追踪,同时实现对目标的定位,得到目标的位置,视觉系统标定误差在0.2个像素点以内,目标定位误差小于10cm。以地面机器人作为追踪目标进行算法测试验证,在目标消失时间较短的情况下,能够达到较好的追踪效果。
Small-size Unmanned Aerial Vehicles（ UAVs） have found an increasing application in GPSdenied environment. Stereo vision can be used for UAV target detecting, tracking and locating in complex environments. The thesis presents the techniques of binocular camera calibration, feature point detection,extraction and matching, binocular measurement and so on. It is implemented to track the specified target in image while realizing target positioning, with final calibration error within 0. 2 pixels and positioning error within 10 cm. We made verification to the algorithm by taking a ground robot as the target to be tracked, and found that it can achieve a fine tracking result when the target has short disappearance time.
出处
《电光与控制》
北大核心
2016年第5期6-10,共5页
Electronics Optics & Control
基金
航空科学基金(20135851043)
