基于视觉的无人机导航技术研究

Research on UAV Navigation Technology Based on Vision

视觉导航在无人机(UAV)定位跟踪领域中具有重要作用。尽管目前对其已有大量研究,但仍有许多难点有待攻克,如光照变化、用于定位的既定目标形变或被遮挡以及相机移位等。为深入研究学习基于视觉的无人机导航技术,对近年来的视觉导航方法进行了综述。对现有的视觉导航算法从视觉处理流程方面作了分类总结。首先,简单介绍研究意义以及相关工作。然后,阐述了无人机从获取图像预处理、特征提取、目标跟踪及定位导航的原理及各种方法并进行总结分析,并简单阐述了在未知环境条件下地图的建立。最后,提出了无人机视觉导航技术在实际应用中存在的问题挑战以及前景展望。

Vision navigation plays a major role in the field of unmanned arial vehicle(UAV)positioning and tracking.Although there are a lot of researches on it,there are still many difficulties to be resolved,such as the change of illumination,the deformation or occlusion of the target used for positioning,and the camera displacement.ln order to study the technology of UAV vision navigation,the vision navigation methods in recent years are summed up.The existing visual navigation algorithms are classified and summarized from the visual processing flow.Firstly,the significance of the research and related work is briely introduced.Then,the principle and methods of image preprocessing,feature extraction,target tracking,positioning and navigation for UAV are described,and the establishment of map in an unknown environment is simply described.Finally,the problems and challenges in the practical application of UAV vision navigation technology and the prospect are proposed.