This paper proposes an efficient object localization method based on a vanishing line. The proposed method can be much improved in time efficiency since it requires scanning only vanishing line area. It requires the t...This paper proposes an efficient object localization method based on a vanishing line. The proposed method can be much improved in time efficiency since it requires scanning only vanishing line area. It requires the time complexity of O(n) while the existing sliding window method requires the time complexity O(n<sup>2</sup>) for detecting all objects in the entire image. In addition, the range of detection area can be also remarkably reduced when compared with the sliding window method. As a result, the total range and times for searching in the proposed method can be significantly reduced by considering together the distance and position of the object. The experiment on the proposed method is performed with the virtual road data set known as SYNTHIA, and the competitive results are obtained.展开更多
The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points ...The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.展开更多
文摘This paper proposes an efficient object localization method based on a vanishing line. The proposed method can be much improved in time efficiency since it requires scanning only vanishing line area. It requires the time complexity of O(n) while the existing sliding window method requires the time complexity O(n<sup>2</sup>) for detecting all objects in the entire image. In addition, the range of detection area can be also remarkably reduced when compared with the sliding window method. As a result, the total range and times for searching in the proposed method can be significantly reduced by considering together the distance and position of the object. The experiment on the proposed method is performed with the virtual road data set known as SYNTHIA, and the competitive results are obtained.
基金supported by the NUAA Fundamental Research Funds(No.NS2013034)
文摘The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.
