基于视觉的无人机着陆地标设计与识别算法研究  

Research on the Design and Recognition Algorithm of UAV Landing Landmark Based on Vision

作　　者：于洋 毕宏帅 YU Yang;BI Hongshuai(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学自动化与电气工程学院,沈阳110159

出　　处：《沈阳理工大学学报》2020年第6期12-15,49,共5页Journal of Shenyang Ligong University

摘　　要：快速准确地获取无人机的位姿信息对于基于视觉导航的无人机定点着陆至关重要。本文针对传统地标与相应识别算法不能提供给无人机偏航角精确量而导致着陆误差大的问题,提出同心圆环与正方形嵌套的新型复合地标,并结合该地标进行无人机识别算法设计,解决无人机偏航角精确量与地标识别问题,为无人机的精准着陆提供了位姿参数保障。实验验证了所设计的无人机着陆地标与识别算法的有效性。Fast and accurate acquisition of UAV pose information is very important for UAV fixed-point landing based on visual navigation.Based on traditional landmarks and the corresponding recognition algorithms can not provide accurate yaw angle for UAV which leads toa problem of the landing error.This paper proposes a new composite landmark nested in concentric circles and squares,and combines the landmarks to perform UAV.The recognition algorithm design solves the problem of the precise amount of UAV yaw angle and landmark recognition,laying the foundation for the precise landing of UAV.The experiment verifies the effectiveness of the proposed algorithm for UAV landing landmark recognition.

关 键 词：视觉导航 无人机 地标识别 图像处理 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]