基于双目视觉的无人机飞行高度测量方法研究  

Research on UAV Flying Height Measurement Method Based on Binocular Vision

作　　者：孙立帅 王明泉[1] 郝利华[1] 郭瑞琦 SUN Lishuai;WANG Mingquan;HAO Lihua;GUO Ruiqi(Key Laboratory of Instrumentation Science&Dynamic Measurement of Ministry of Education,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051

出　　处：《测试技术学报》2020年第6期470-474,共5页Journal of Test and Measurement Technology

基　　金：国家重大科学仪器设备开发专项资助项目(2013YQ240803);山西省重点研发计划资助项目(201803D121069);山西省应用基础研究项目面上自然基金资助项目(201801D121162)。

摘　　要：双目视觉测距方法具有非接触式、测量精度高、操作简便等优点,已被广泛应用于各种测量场合.本文以定高飞行模式下的无人机作为目标,采集图像序列;搭建立体标定物,完成双目视觉系统的内、外参数标定;利用5帧差分法完成背景去除与无人机目标提取;对左右图像分别进行畸变校正,并完成立体校正及视差计算,最终利用视差原理计算高度.实验证明,本文方法测量速度快,不易受环境干扰,可以较为准确地测量出无人机的飞行高度.Binocular vision ranging method has the advantages of non-contact,high measurement accuracy,and simple operation,and has been widely used in various measurement occasions.This article takes the UAV in the fixed-height flight mode as the target,and collects the image sequence.The stereo calibration object is built to complete the calibration of internal and external parameter of binocular vision system.This means use the five-frame difference method to complete background removal and drone target extraction.The height is calculated need by distortion correction for left and right images,complete the stereo correction and parallax calculation,and use the parallax principle.Experiments prove that the method has fast measurement speed and is unsusceptible to environmental interference,and can accurately measure the flying height of the drone.

关 键 词：双目视觉 无人机 运动目标提取 5帧差分法 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]