The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points ...The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.展开更多
The equi-luminance of color stimulus in normal subjects is characterized by L-cone and M-cone activation in retina. For the protanopes and deuternopes, only the activations of one relevant remaining cone type should b...The equi-luminance of color stimulus in normal subjects is characterized by L-cone and M-cone activation in retina. For the protanopes and deuternopes, only the activations of one relevant remaining cone type should be considered. The equi-luminance turning curve was established for the recorded visual evoked potentials (VEPs) of the luminance changes of the red and green color stimulus, and the position of the equi-luminance was used to define the kind and degree of color vision deficiencies. In the test of 47 volunteers we got the VEP traces and the equi-luminance turning curves, which was in accordance with the judgment by the pseudoisochromatic plate used in clinic. The method fulfills the objective and quantitative requirements in color vision deficiencies test.展开更多
基金supported by the NUAA Fundamental Research Funds(No.NS2013034)
文摘The research of unmanned aerial vehicles＇（UAVs＇）autonomy navigation and landing guidance with computer vision has important signifcance.However,because of the image blurring,the position of the cooperative points cannot be obtained accurately,and the pose estimation algorithms based on the feature points have low precision.In this research,the pose estimation algorithm of UAV is proposed based on feature lines of the cooperative object for autonomous landing.This method uses the actual shape of the cooperative-target on ground and the principle of vanishing line.Roll angle is calculated from the vanishing line.Yaw angle is calculated from the location of the target in the image.Finally,the remaining extrinsic parameters are calculated by the coordinates transformation.Experimental results show that the pose estimation algorithm based on line feature has a higher precision and is more reliable than the pose estimation algorithm based on points feature.Moreover,the error of the algorithm we proposed is small enough when the UAV is near to the landing strip,and it can meet the basic requirements of UAV＇s autonomous landing.
文摘The equi-luminance of color stimulus in normal subjects is characterized by L-cone and M-cone activation in retina. For the protanopes and deuternopes, only the activations of one relevant remaining cone type should be considered. The equi-luminance turning curve was established for the recorded visual evoked potentials (VEPs) of the luminance changes of the red and green color stimulus, and the position of the equi-luminance was used to define the kind and degree of color vision deficiencies. In the test of 47 volunteers we got the VEP traces and the equi-luminance turning curves, which was in accordance with the judgment by the pseudoisochromatic plate used in clinic. The method fulfills the objective and quantitative requirements in color vision deficiencies test.
