用于无人直升机着舰控制的计算机视觉技术研究

 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双目立体计算机视觉系统及相关计算机视觉技术。研究了基于HSV 均匀色标的计算机视觉技术在无人直升机着舰控制中的应用。使用Hough 变换算法检测直线参数,在Hough 变换中利用梯度信息,它的应用打破了Hough 变换的计算瓶颈。整套算法的抗噪声能力很强,达到了无人直升机自主着舰的实时性和实用性要求。

Computer Vision Scheme Used for the Automate Landing of Unmanned Helicopter on Ship Deck

A computer vision solution scheme for the automatic landing of an unmanned helicopter on ship was examined from the view of engineering application. A series of computer vision algorithms such as Sobel filter, Fast Hough Transform, were adopted and integrated to get the relative positions between the helicopter and ship, from which their relative movement parameters can be obtained. The image segmentation was executed in HSV color space. Hough Transform was adopted to detect the linear parameters, the bottle neck of which was broken with the use of gradient information. The use of Hough Transform makes the stereo vision scheme very robust to noise. Computer simulation results indicated that the presented algorithms were robust and reliable.