一种基于灭影线的无人直升机位姿估计方法

A Method for Estimating Position and Orientation of an Unmanned Helicopter Based on Vanishing Line Information

该文将基于灭影线的摄像机标定原理用于无人直升机的位姿估计,设计了一个包含四组平行线的平面着陆图标,通过机载摄像机摄取的图标图像,估计出直升机相对于该图标的位置和姿态。文章首先简述了灭影线的有关知识,推导了相应的关系方程,接着介绍了使用的图像处理方法和提高计算精度的措施,最后,给出了实验结果并对实验误差做了简要分析。该方法的技术关键是如何精确测定灭影点和灭影线的像平面参数,算法最大的特点为计算结果与焦距变化的无关性。实验结果表明,该方法算法复杂性低,实时性好,精度较高,可以用于无人直升机的位姿估计。

The principle of vanishing line-based camera calibration is applied to estimating the position and orientation of an unmanned helicopter.We design a planar landmark which contains four pairs of parallel lines,The camera mounted at helicopter can observe the landmark and then the position and orientation of the unmanned helicopter can be figured out.Firstly,related knowledge of vanishing lines and related equations are introduced.Secondly method for image processing is described.At the end,the results of the experiments are shown and some error analysis are made.The key technique of this method is how to obtain the accurate parameters of the vanishing points and vanishing line on the image plane,and the main characteristic is that the estimated result is independent of focus changing.Experimental results show that this method is easy and accurate as well as feasible.