一种面向无人机的阵列相机设计及其目标定位算法研究

Design of an array camera for UAV and research on target localization algorithm

双目视觉定位系统广泛应用于无人机视觉定位领域中,但鉴于普遍使用普通单双目相机,其视场角较小,可调焦距小,不能满足无人机对复杂飞行环境中目标的大视野定位的需求。为此,设计了一种面向无人机的阵列相机包含对应定位算法,无人机搭载其可获得更大视角,降低视觉盲区的影响。同时,为了提供更高的无人机视觉定位系统对空中小目标检测的精度,采用阵列相机技术以及对应定位算法,当僚机搜索待检测目标时,通过阵列相机技术先切换到合适的相机组,然后自动调节相机焦距,识别定位目标。实验表明,该设计可以让无人机更快地追踪到目标,并且目标在画面中成像更清晰,定位更精准。

The binocular vision positioning system is widely used in the field of UAV visual positioning.However,due to the common use of ordinary single-binocular cameras,its field of view is small and the adjustable focal length is small,which cannot meet the requirements of UAVs in complex flight environments.To meet the needs of the target’s large field of view positioning,this paper designs a UAV-oriented array camera including the corresponding positioning algorithm research.The UAV can obtain a larger viewing angle and reduce the impact of visual blind spots.Meanwhile,in order to provide a higher accuracy of the detection of small targets in the air by the UAV visual positioning system,the array camera technology and the corresponding positioning algorithm are used.When the wingman searches for the target to be detected,the array camera technology is used to first switch to the appropriate camera group,and then automatically adjust the focal length of the camera and identify the positioning target.Experiments show that this design allows the drone to track the target faster,and the target can be imaged more clearly in the picture and positioned more accurately.