基于图标识别的微型UAV飞行高度估算

作者：赵亮，韩波，李平 日期：2007-10-25/span> 浏览：4261 查看PDF文档

基于图标识别的微型UAV飞行高度估算

赵亮，韩波，李平
（浙江大学 工业控制技术研究所，浙江 杭州 310027）

摘要：在基于DSP硬件平台的微型UAV视觉系统上，综合运用多种图像预处理算法及随机Hough变换算法，实现了针对特定图标的实时识别。同时通过对摄像头的简单标定，获取了拍摄图像与微型UAV实际飞行状况之间的映射关系。根据所设计的视觉系统在近地面对图标的识别，得到了摄像头与被摄图标的距离。最后通过对实验数据的分析，验证了视觉系统的有效性。
关键词：无人架驶飞行器；随机Hough变换；视觉系统；图标识别
中图分类号：TP242文献标识码：A文章编号：1001-4551(2007)10-0099-04

Estimation of mini UAV flight height based on icon recognition
ZHAO Liang, HAN Bo, LI Ping
(Institute of Industrial Process Control, Zhejiang University, Hangzhou 310027, China)
Abstract: Many kinds of image preprocess arithmetic and randomized hough transform (RHT) arithmetic were utilized to recognize a special icon based on the DSP vision system which had been discussed previously. In this base, the mapping relationship between the image and real mini UAV flight situation was got by simple camera calibration. And then the shooting distance was obtained basing on the recognition results of surface layer icon. Finally the results verify the practicability of this vision system through the analyse of experiment data.
Key words: unmanned air vehicle (UAV); randomized hough transform (RHT); vision system; icon recognition

参考文献(Reference)：
［1］赵亮，韩波，李平.基于DSP平台的微型UAV视觉系统［J］.机电工程，2007，24(2)：70-73.
［2］李泉林，周渊.随机Hough变换的概率模型:有限个数据点［J］.计算机学报，2002，25(3)：238-246.
［3］XU L, OJA E, KULTANAN P. A new curve detection method: Randomized Hough Transform (RHT)［J］. Pattern Recognition Letters,1990:331-338.
［4］XU L, OJA E. Randomized Hough Transform (RHT): basic mechanism, algorithms, and computational complexities［J］. CV GIP: Image Understanding, 1993,57(2):131-154.
［5］邱茂林，马颂德，李毅.计算机视觉中摄像机定标综述［J］.自动化学报，2000，26(1)：43-55.
［6］张颖.基于改进的SUSAN法的摄像机线性标定方法［J］.计算机应用，2006，26(10)：2516-2518.