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�Ų���, ��־��, ��Ӣѫ*
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Binocular stereo vision navigation for electric VTOL aircraft
Zhang Bohan, Cai Zhihao, Wang Yingxun*
Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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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.
Keywords�� electric VTOL aircraft   visual navigation   binocular stereo vision   obstacle detect and avoid     
Received 2010-09-10;


About author: �Ų���(1987-), ��, ɽ���˳���, ˶ʿ��, han872004@163.com.
�Ų���, ��־��, ��Ӣѫ.�綯VTOL������˫Ŀ�����Ӿ���������[J]  �������պ����ѧѧ��, 2011,V37(7): 882-887
Zhang Bohan, Cai Zhihao, Wang Yingxun.Binocular stereo vision navigation for electric VTOL aircraft[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2011,V37(7): 882-887
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