无人机自主着陆过程中合作目标特征点的提取方法研究.pdfVIP

20 10 1 20 10 No. 1 2 0 10 2 AERO W EAPONRY Feb. 2010 张 勇, 徐贵力, 章凤翎, 程月华, 田裕鹏, 王 彪 (南京航空航天大学自动化学院, 南京 2 100 16) : 准确估计无人机着陆时的相对位置 姿态对实现无人机安全着陆具有重要的意义, 正确地提取出合作目标中的特征点是一个重要环节本文提出了一种合作目标特征点的提取方 法, 首先, 通过 Sobel算子对合作目标进行边缘检测; 然后, 利用轮廓跟踪获得合作目标的轮廓链 码表; 最后, 利用合作目标的形状特征以及链码的特性, 从合作目标的图像中提取出 10 个特征 点实验结果表明, 本文的方法能很好地提取出合作目标的特征点, 为后续的无人机姿态信息的 精确计算提供了保障 : 无人机; 自主着陆; 合作目标; 特征点提取 : TP391. 4 : A : 1673- 5048( 2010) 01- 0025- 04 Research on FeaturePointExtraction ofCooperativeObject for UAV AutonomousLanding ZHANG Yon , XU Gu-i li, ZHANG Fen -lin , CHENG Yue-hua, T IAN Yu-pen , WANG Biao ( Colle e of Autom ation En ineerin , Nanjin Un iversity of Aeronau tics A stronautics, N anjin 210016, China) Abstract: Precisely estmi atin the position and pose information of the unmanned aerial veh icle ( UAV ) plays an mi portant role in the safe land in of theUAV, and feature point extraction of the cooper- ative object is a key point in the procedure. Th is paper presen ts a method to extract the feature poin t of the cooperative object. F irstly, the ed e of the object usin Sobelmethod is detected; secondly, the chain code of the outline is otten; finally, 10 feature points of the cooperative object are extracted by usin the characteristic of the cooperative object and chain code. Expermi ent results show that themethod can pick- up the feature points accurately, and these points can provide a uarantee for the compu tin of theUAV s land in information. ey words: UAV; autonomous landin ; cooperative object; feature point extraction 0 , ,