基于HOG的熵流导航方法-控制工程专业论文.docxVIP

Abstract The aerospace is one of the important indicators of national science and technology level is developed and national defense is powerful. There are many common navigation methods after continuous development in navigation field. Among them, the visual navigation based on insect is a hot key object of study, but also the future development trend of navigation. The hardware requirements of visual navigation is relatively low, it need only a simple visual sensors. Besides, it requires no external signals for navigation and can get the distance from the camera by calculating the real objects in the environment to avoid obstacles in order to reach the autonomous navigation purpose. Histogram of Oriented Gradients is a local area descriptor through the local area of computational and statistical image gradient histogram. It is based on the image of the local cell and the local cell are got normalization operation which is very useful to characterize the image’s local information for the reason that it remain the optical and geometric invariance. In this paper, on the basis of existing laboratory project’s scientific research I made some improvement and propose a navigation method base on the HOG entropy flow. Firstly, according to the concept of entropy flow combined with the power of HOG I redefine the calculation of the entropy map and show the detailed steps of constructed entropy diagram. Secondly, we got the flow of information in the navigation process based on the entropy flow which is calculated by entropy map, and set entropy flow as an input parameter into the six-parameter motion estimation model for global motion estimation in order to get the navigation motion estimation parameters. However the use of least squares method will introduce the noise data, so the finally step is to use the Kalman filter to obtain the optimized motion estimation parameters. We simulated the navigation methods in the MATLAB platform after the previous theoretical research.