摘要
对无人飞行器编队中,队形保持阶段的飞行器姿态估计问题,进行了探索研究和仿真分析;基于计算机视觉中的弱透视投影理论,提出了一种快速的飞行器相对姿态估计方法;利用机载摄像头获得飞行器图像,提取、匹配飞行器图像的三个特征点,用图像中第四点决定姿态变化的方向,实现相对姿态的估计;通过仿真实验分析表明,提出的方法不依赖于特定的飞行器模型,不需要飞行器正面视图;且方法运算快速,计算简单,准确性较高,可以用于飞行器实时姿态估计。
Pose estimation in the stage of maintaining formation is researched and simulation analyzed. Based on weak perspective in computer vision, a fast relative pose estimation method for flight vehicles is developed. In order to achieve relative pose estimation, the method extracts and matches feature points in images, which were captured by camera mounted on flight vehicles. Theoretical analysis and simulations show that the method does not depend on a 3--D flight vehicles model or a frontal--view image, moreover the method has fast speed and good veracity, it can he used to flight vehicles real--time pose estimation.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第7期1378-1380,1383,共4页
Computer Measurement &Control
基金
国家自然科学基金项目(60674100)
关键词
姿态估计
弱透视投影
计算机视觉
飞行器
pose estimation
weak perspective
computer vision
flight vehicles
