一种基于单目视觉的无人机仿地飞行方法  

An ground-like flight method of UAV based on monocular vision

作　　者：付振华 邓瑞芝[1] FU Zhenhua;DENG Ruizhi(Institute of Land Resource Surveying and Mapping of Guangdong Province,Guangzhou 510500,China)

机构地区：[1]广东省国土资源测绘院,广东广州510500

出　　处：《测绘通报》2021年第11期128-130,共3页Bulletin of Surveying and Mapping

摘　　要：仿地飞行对于无人机航测至关重要,能否相对地面保持稳定的航高直接关系到无人机在复杂地形区域的安全性和数据质量问题。本文提出一种基于单目视觉的无人机航高估计方法,通过光流法对无人机实时获取的视频进行跟踪和分析,提取运动信息以估算实时航高。试验结果表明,该方法能够快速、准确地估算无人机实时航高,在没有地表高程信息的情况下实现了自动仿地飞行。Ground imitation flight is a very important issue in aerial survey of unmanned aerial vehicles.Whether the aircraft can maintain a stable altitude relative to the ground which is directly related to the safety and data quality of unmanned aerial vehicles in complex terrain areas.Therefore,a monocular vision based on UAV aerial height estimation method is proposed in this paper.The optical flow method is used to track and analyze the real-time video obtained by UAV,and the motion information is extracted to estimate the real-time aerial height.The experimental results show that this method can estimate the real-time altitude of UAV quickly and accurately,and realize the automatic ground-mimicking flight without the information of surface altitude.

关 键 词：仿地飞行 无人机 航测 光流法 单目视觉 

分 类 号：P231[天文地球—摄影测量与遥感]