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| 用于飞行器视觉导航的地平线检测算法 | |
| 引用本文： | 付丙岛,王广彪,丁文锐,李红光.用于飞行器视觉导航的地平线检测算法[J].北京航空航天大学学报,2011,37(7):849-854. |
| 作者姓名： | 付丙岛 王广彪 丁文锐 李红光 |
| 作者单位： | 北京航空航天大学电子信息工程学院,北京,100191;北京航空航天大学无人驾驶飞行器设计研究所,北京,100191 |
| 基金项目： | 航空科学基金资助项目(2008ZC1029) |
| 摘 要： | 结合航拍视频序列的特点与视觉导航系统的需求,提出了一种基于图像区域相似性和禁忌搜索算法的地平线拟合视觉导航算法.从航拍视频序列中提取单帧图像,并做下采样去噪等相应预处理;初始化禁忌搜索算法的初始解等参数,结合适配值函数,拟合图像中的地平线;用禁忌搜索算法的特赦准则和收敛准则评判拟合的准确性,直到适配值函数值满足收敛准则为止,得出最优解;分解出飞行器的横滚角和俯仰角,并由横滚角和俯仰角的大小决定下次参数校正的间隔,输出结果给控制系统.实验结果表明,与传统视觉导航方法和基于Hough变换的方法相比,此算法具有无参考、实时性好和抗噪性强等特点. |
| 关 键 词： | 视觉导航 禁忌搜索 地平线拟合 Hough变换 |
| 收稿时间： | 2010-09-10 |
Vehicle visual navigation algorithm based on detect of horizon |
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| Fu Bingdao Ding Wenrui Wang Guangbiao Li Hongguang.Vehicle visual navigation algorithm based on detect of horizon[J].Journal of Beijing University of Aeronautics and Astronautics,2011,37(7):849-854. | |
| Authors: | Fu Bingdao Ding Wenrui Wang Guangbiao Li Hongguang |
| Institution: | 1. School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; 2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; 3. School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China |
| Abstract: | Combined with the demand of vehicle's visual navigation system and the features of aerial images,a horizon detection algorithm which is used by visual navigation and based on the similarity between regions of images and tabu search was proposed.A single frame extracted from aerial video sequences was delt with downsampling and noise reduction.Tabu search algorithm parameters,such as initial solution,were initialized.Tabu search algorithm combined with the fit function fit the position of horizon.Tabu search... |
| Keywords: | vision navigation tabu search horizon fitting Hough transform |
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