一种基于多目视觉的无人机实时定位方法

doi:10.13474/j.cnki.11-2246.2018.0106

测绘通报 ›› 2018, Vol. 0 ›› Issue (4): 32-35,82.doi: 10.13474/j.cnki.11-2246.2018.0106

一种基于多目视觉的无人机实时定位方法

王辰, 郑顺义, 朱锋博, 桂力

武汉大学遥感信息工程学院, 湖北武汉 430079

收稿日期:2017-07-05 出版日期:2018-04-25 发布日期:2018-05-03
作者简介:王辰(1992-),男,硕士生,研究方向为摄影测量与遥感。E-mail:chenw1226@foxmail.com
基金资助:
中央高校基本科研业务费专项资金项目（2042016kf0012）；湖北省科技支撑计划项目（2015BCE080）

A Real-time Unmanned Aerial Vehicle Localization Method Based on Multi-view Stereo Vision

WANG Chen, ZHENG Shunyi, ZHU Fengbo, GUI Li

School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China

Received:2017-07-05 Online:2018-04-25 Published:2018-05-03

摘要/Abstract

摘要：

提出了一种基于多目视觉的实时无人机自动定位方法。该方法将多相机和多台计算机联合组建局域网，通过相机标定、图像同步采集、背景差分与前方交会等实现无人机自动检测与定位。为了验证该方法的有效性，开发了一套无人机检测和定位的软硬件系统，试验结果表明该方法是可行、有效的，定位精度满足要求。

关键词: 无人机自动定位, 局域网组建, 多目立体视觉, 背景差分

Abstract:

In this paper,the author proposes a real-time unmanned aerial vehicle auto localization method based on multi-view stereo vision.Firstly,cameras are divided into several groups,and each group is connected with a computer to construct a local area network.Then,interior and exterior elements as well as the lens distortion parameters are measured.Next,images are captured simultaneously and the unmanned aerial vehicle is detected and located automatically by background difference and forward intersection.In order to verify this method,an unmanned aerial vehicle localization system is designed and implemented.The experimental results show that the method is feasible and effective and the expected accuracy is reached.

Key words: unmanned aerial vehicle auto localization, local area network construction, multi-view stereo vision, background difference

中图分类号:

P237

王辰, 郑顺义, 朱锋博, 桂力. 一种基于多目视觉的无人机实时定位方法[J]. 测绘通报, 2018, 0(4): 32-35,82.

WANG Chen, ZHENG Shunyi, ZHU Fengbo, GUI Li. A Real-time Unmanned Aerial Vehicle Localization Method Based on Multi-view Stereo Vision[J]. 测绘通报, 2018, 0(4): 32-35,82.

参考文献

[1] 解邦福.基于单目视觉的刚体位姿测量系统研究[D].哈尔滨:哈尔滨工业大学,2009.
[2] BENALLAL M,MEUNIER J.Pose Estimation of Polygonal Object in Monocular Vision Using Parametric Equations of Vertices[C]//IAPR Conference on Machine Vision Applications.[S.l.]:DBLP,2002:342-345.
[3] LIU C,ZHANG Y.3D Trajectory Reconstruction from Monocular Vision Based on Prior Spatial Knowledge[J].IEEE Sensors Journal,2016,16(3):817-822.
[4] JUNG S,JANG D,KIM M.An Approach to 3D Object Localization Based on Monocular Vision[J].Journal of Korea Multimedia Society,2008,11:1658-1667.
[5] XU S,LIU M.Feature Selection and Pose Estimation from Known Planar Objects Using Monocular Vision[C]//IEEE International Conference on Robotics and Biomimetics.Shenzhen:IEEE,2014:922-927.
[6] DOIGNON C,ABBA G,OSTERTAG E.Recognition and Localization of Solid Objects by a Monocular Vision System for Robotic Tasks[J].Intelligent Robots & Systems Advanced Robotic Systems & the Real World Ir,1994(3):2007-2014.
[7] HOERMANN S,BORGES P V K.Robot Localization Using 3D-models and an Off-board Monocular Camera[C]//IEEE International Conference on Computer Vision Workshops.Barcelona:IEEE,2011:1006-1013.
[8] LIU W,WANG Z,NING X,et al.An Object Recognition and Location Based on Binocular Stereo Vision[C]//International Forum on Computer Science-Technology and Applications.Chongqing:IEEE Computer Society,2009:97-99.
[9] HUANG G,CHENG C.3D Coordinate Identification of Object Using Binocular Vision System for Mobile Robot[C]//Automatic Control Conference.Nantou:IEEE,2014:91-96.
[10] 罗陆锋,邹湘军,叶敏,等.基于双目立体视觉的葡萄采摘防碰空间包围体求解与定位[J].农业工程学报,2016,32(8):41-47.
[11] 王磊,胡超,吴捷,等.基于多相机的人脸姿态识别[J].计算机应用,2010,30(12):3307-3310.
[12] 陈磊,高升,袁宝峰,等.基于多相机的空间机械臂视觉系统[J].航天返回与遥感,2014,35(3):35-42.
[13] 冯文灏.近景摄影测量[M].武汉:武汉大学出版社,2002.
[14] 万缨,韩毅,卢汉清.运动目标检测算法的探讨[J].计算机仿真,2006,23(10):221-226.
[15] 马吉甫,高雪峰.基于扫描线的连通域搜索算法[J].福建电脑,2006(12):121.

一种基于多目视觉的无人机实时定位方法

A Real-time Unmanned Aerial Vehicle Localization Method Based on Multi-view Stereo Vision

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	王艳军, 林云浩, 王书涵, 李少春, 王孟杰. OSM辅助车载LiDAR点云三维道路边界精细提取[J]. 测绘通报, 2022, 0(7): 18-25.
[2]	柳林, 孙毅, 李万武. 基于CNN海上钻井平台检测模型的构建及训练算法分析[J]. 测绘通报, 2022, 0(7): 26-32,99.
[3]	孔瑞瑶, 谢涛, 马明, 孔瑞林. CatBoost模型在水深反演中的应用[J]. 测绘通报, 2022, 0(7): 33-37.
[4]	温雨笑, 吕杰, 马庆勋, 张鹏, 徐汝岭. 高光谱和LiDAR联合反演森林生物量研究[J]. 测绘通报, 2022, 0(7): 38-42.
[5]	江泽霖, 邓健, 栾海军, 李兰晖. 基于逐日夜间灯光遥感的新冠肺炎疫情变化信息快速提取——以北京市为例[J]. 测绘通报, 2022, 0(7): 43-48.
[6]	郑艳, 何欢, 卜丽静, 金鑫. 自相似性和边缘保持分解的超分辨率重建算法[J]. 测绘通报, 2022, 0(7): 54-59.
[7]	冉崇宪, 李森磊. 利用无人机多光谱影像提取树冠信息[J]. 测绘通报, 2022, 0(7): 112-117.
[8]	刘立, 董先敏, 刘娟, 文学虎. 人机融合智能的遥感解译生产新方法[J]. 测绘通报, 2022, 0(7): 118-123,137.
[9]	艾敏, 景慧, 田禹东, 郭兰勤, 裴渊杰. 近20年哈尔滨市呼兰区土地利用覆盖变化及驱动分析[J]. 测绘通报, 2022, 0(7): 124-128.
[10]	刘玉贤, 阮明浩, 闫臻. 一种基于机载激光点云的门型电塔精确提取方法[J]. 测绘通报, 2022, 0(7): 129-133.
[11]	刘国超, 彭卫平, 杨水华, 胡周文. 地质雷达+三维测量内窥镜的城市道路病害检测与应用[J]. 测绘通报, 2022, 0(7): 134-137.
[12]	刘小玉, 刘扬, 杜明义, 张敏, 贾竞珏, 杨恒. 基于DeeplabV3+的建筑垃圾堆放点识别[J]. 测绘通报, 2022, 0(4): 16-19,43.
[13]	李佳豪, 周吕, 马俊, 杨飞, 咸凌霄. 利用PS-InSAR技术进行城市地铁沿线形变监测与机理分析[J]. 测绘通报, 2022, 0(4): 20-25.
[14]	师芸, 石龙龙, 牛敏杰, 赵侃. 基于单阶段实例分割网络的黄土滑坡多任务自动识别[J]. 测绘通报, 2022, 0(4): 26-31.
[15]	窦世卿, 陈治宇, 徐勇, 郑贺刚, 苗林林, 宋莹莹. 基于多特征融合与典型降维方法的高光谱影像分类[J]. 测绘通报, 2022, 0(4): 32-36,50.