飞行器悬挂载荷的视觉位置测量方法  

Position Measurement Method for Suspension Load of Aircraft by Monocular Vision

作　　者：严熠 杨盛毅[2] 胡远利 刘超[2] YAN Yi;YANG Shengyi;HU Yuanli;LIU Chao(School of Data Science and Information Engineering,Guizhou Minzu University,Guiyang 550025,China;Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Province,Guizhou Minzu University,Guiyang 550025,China)

机构地区：[1]贵州民族大学数据科学与信息工程学院,贵州贵阳550025 [2]贵州民族大学贵州省模式识别与智能系统重点实验室,贵州贵阳550025

出　　处：《机械与电子》2019年第12期69-72,共4页Machinery & Electronics

基　　金：贵州省科学技术基金(黔科合J字LKM[2012]09,黔科合LH字[2016]7081,黔科合基础[2017]1088)

摘　　要：为了解决飞行器悬挂载荷的位置信息不易测量的问题,提出了一种基于视觉的测量方法。首先,选取蓝色小球作为悬挂载荷进行研究,根据小球运动特性,建立了单目视觉位置估计模型。其次,采用Faster R-CNN算法对小球进行识别与跟踪,得到小球在图像二维平面上的位置信息。再次,该位置信息结合单目视觉位置估计模型,估计出小球的三维位置。最后,搭建悬挂载荷测量平台进行实验测试。实验结果表明,所设计视觉测量方法能有效测量悬挂载荷位置。In order to solve the problem that it is difficult to measure the position information of the aircraft’s suspension load,a method based on vision was proposed.Firstly,the blue ball was selected as the suspension load to study,and the monocular vision position estimation model was established according to the movement characteristics of the ball.Secondly,the Faster R-CNN algorithm was adopted to identify and track the ball and obtain the location information of the ball on the two-dimensional plane of the image.Thirdly,this position information was combined with monocular vision position estimation model to estimate the three-dimensional position of the ball.Finally,the suspension load measurement platform was built for experimental testing.Experimental results show that the designed visual measurement method can effectively measure the suspension load position.

关 键 词：悬挂载荷 目标识别 目标跟踪 位置测量 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]