典型文献
Monocular Vision Based Relative Localization For Fixed-wing Unmanned Aerial Vehicle Landing
文献摘要：
Autonomous landing has become a core technology of unmanned aerial vehicle ( UAV) guidance, navigation, and control system in recent years. This paper discusses the vision-based relative position and attitude estimation between fixed-wing UAV and runway, which is a key issue in autonomous landing. Images taken by a airborne camera was used and a runway detection method based on long-line feature and gradient projection is proposed, which solved the problem that the traditional Hough transform requires much calculation time and easily detects end points by mistake. Under the premise of the known width and length of the runway, position and attitude estimation algorithm used the image processing results and adopted an estimation algorithm based on orthogonal iteration. The method took the objective space error as error function and effectively improved the accuracy of linear algorithm through iteration. The experimental results verified the effectiveness of the proposed algorithms.
文献关键词：
中图分类号：
作者姓名：
Yuwen Xu;Yunfeng Cao;Zhouyu Zhang
作者机构：
College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210000,China
文献出处：
引用格式：
[1]Yuwen Xu;Yunfeng Cao;Zhouyu Zhang-.Monocular Vision Based Relative Localization For Fixed-wing Unmanned Aerial Vehicle Landing)[J].哈尔滨工业大学学报（英文版）,2022(01):1-14
A类：
B类：
Monocular,Vision,Based,Relative,Localization,For,Fixed,wing,Unmanned,Aerial,Vehicle,Landing,Autonomous,landing,has,become,core,technology,unmanned,aerial,vehicle,UAV,guidance,navigation,control,system,recent,years,This,paper,discusses,vision,relative,position,attitude,estimation,between,fixed,runway,which,key,issue,autonomous,Images,taken,by,airborne,camera,was,used,detection,method,long,feature,gradient,projection,proposed,solved,problem,that,traditional,Hough,transform,requires,much,calculation,easily,detects,end,points,mistake,Under,premise,known,width,length,image,processing,results,adopted,orthogonal,iteration,took,objective,space,error,function,effectively,improved,accuracy,linear,through,experimental,verified,effectiveness,algorithms
AB值：
0.704795
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