Examination of a Computer Vision System Used for the Automatic Landing of Unmanned Helicopter on Ship
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摘要: 通过理论分析和计算机半实物仿真研究了一种应用于无人直升机自主着舰的计算机视觉系统及相关计算机视觉技术.从工程实践的角度研究了计算机视觉技术在无人直升机自主着舰过程中的应用,并提出了可靠实用的一系列算法.通过精心设计,整套算法达到了无人直升机自主着舰的实时性和实用性要求,为工程样机的研制做好了理论上的准备.Abstract: A computer vision solution scheme for the automatic landing of unmanned helicopter on ship was examined from the view of engineering application. A series of computer vision algorithms such as LOG filter, Hough transform and Kalman filter, were adopted and integrated to get the relative positions between the helicopter and ship, from which their relative movement parameters were obtained. Kalman filter were used to reduce most of the noises of position and movement parameters. Computer simulation results indicated that the presented algorithms were robust and reliable.
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Key words:
- pilotless helicopters /
- computer vision /
- automomy
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