北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (7): 882-887.

• 论文 • 上一篇    下一篇

电动VTOL飞行器双目立体视觉导航方法

张博翰, 蔡志浩, 王英勋   

  1. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100191
  • 收稿日期:2010-09-10 出版日期:2011-07-30 发布日期:2011-08-04
  • 作者简介:张博翰(1987-), 男, 山西运城人, 硕士生, han872004@163.com.
  • 基金资助:

    中央高校基本科研业务费专项资金资助项目(YWF-10-02-074)

Binocular stereo vision navigation for electric VTOL aircraft

Zhang Bohan, Cai Zhihao, Wang Yingxun   

  1. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-09-10 Online:2011-07-30 Published:2011-08-04

摘要: 研究了在未知的、动态的室内走廊环境中,采用双目立体视觉引导电动VTOL(Vertical Take-Off and Landing)飞行器安全飞行的方法.使用安装在飞机上的两个微型摄像头从不同的位置获取图像,由双目立体视觉理论恢复其周围环境特征点的三维坐标.采用角点匹配方法计算视差,实现无人机在走廊中的横向坐标定位.采用区域灰度相关算法进行立体匹配获取视差图,从视差图上检测出障碍物,并给出避障导航点.初步实验验证表明,该方法可行性较高,可以作为进一步研究的基础.

Abstract: A stereo vision-based navigation method for the electric vertical take-off and landing(VTOL) aircraft to wander safely through an unknown dynamic indoor corridor was researched. The aircraft uses two cameras to obtain images from different locations, and then the theory of binocular stereo vision was used to restore the 3-D coordinates of the feature points in front of the aircraft. Corner matching method was applied to calculate the disparity of the detected corners on the wall. Thus, the horizontal position of unmanned aerial vehicle(UAV) in the corridor was revealed. The area-based stereo matching algorithm was presented to get the dense disparity map of the original image pair, then obstacles were extracted from the disparity map and the navigation points were generated for the UAV to avoid obstacles. Preliminary experiment shows that the method is feasible and can be used as a basis for further research.

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