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�������պ����ѧѧ�� 2011, Vol. 37 Issue (7) :849-854    DOI:
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1. �������պ����ѧ ������Ϣ����ѧԺ, ���� 100191;
2. �������պ����ѧ ���˼�ʻ����������о���, ���� 100191;
3. �������պ����ѧ ������Ϣ����ѧԺ, ���� 100191
Vehicle visual navigation algorithm based on detect of horizon
Fu Bingdao1, Ding Wenrui2, Wang Guangbiao3, Li Hongguang2*
1. School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
3. School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Combined with the demand of vehicle’s visual navigation system and the features of aerial images, a horizon detection algorithm which is used by visual navigation and based on the similarity between regions of images and tabu search was proposed. A single frame extracted from aerial video sequences was delt with downsampling and noise reduction. Tabu search algorithm parameters, such as initial solution, were initialized. Tabu search algorithm combined with the fit function fit the position of horizon. Tabu search-s amnesty and convergence criteria were used to judge the value of fit function until it meet convergence criteria. The values of the bank angle and the pitch angle which decide the next parameter-adjusting interval, and send the results to control system were driven. Compared with the traditional visual navigation method and the methods based on Hough transform, the experimental results show that the proposed algorithm is no-reference, good real-time and robust.
Keywords�� vision navigation   tabu search   horizon fitting   Hough transform     
Received 2010-09-10;
Fund:

���տ�ѧ����������Ŀ(2008ZC1029)

About author: ������ (1986-), ��, ɽ��������,˶ʿ��, fubingdao@126.com.
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������, ������, �����, ����.���ڷ������Ӿ������ĵ�ƽ�߼���㷨[J]  �������պ����ѧѧ��, 2011,V37(7): 849-854
Fu Bingdao, Ding Wenrui, Wang Guangbiao, Li Hongguang.Vehicle visual navigation algorithm based on detect of horizon[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(7): 849-854
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