基于双目视觉的小型无人直升机位姿检测  

Position and Attitude Measurement for Small Scale Unmanned Helicopter Based on Binocular Vision

作　　者：董培建[1] 王赓[1] 盛焕烨[1] 吕恬生 

机构地区：[1]上海交通大学计算机系,上海200240

出　　处：《计算机工程》2009年第14期252-254,257,共4页Computer Engineering

基　　金：国家自然科学基金资助项目"多自主飞行机器人紧耦合协调控制中的关键基础技术研究"(60475039)

摘　　要：无人直升机的位置与姿态检测是直升机自主飞行控制的基础。基于双目视觉原理,对直升机标志点进行检测并跟踪,利用基于顺序一致性的极线约束匹配方法,对检测到的多个标志点进行立体匹配,计算标志点三维坐标从而得到无人直升机的位置与姿态信息。设计一个基于双目视觉的小型无人直升机空间位姿测量托架,用于飞行控制模型及飞行控制算法的研究及验证。The position and attitude of unmanned helicopter is the basis of autonomous flight control of helicopter. This paper calculates the three-dimension coordinates and attitude of the unmanned helicopter＇s marking-points based on the principle of binocular vision, by detecting and tracking marking-points, and matching the marking-points using an algorithm called constraint of epipolar based on order of consistency. A platform based on binocular vision for taking experiment of controlling small unmanned autonomous helicopter is designed, which can be used to verify flight control model and algorithms.

关 键 词：无人直升机 位姿检测 双目视觉 飞行控制 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]