An Attitude Estimation Method for MAV Based on the Detection of Vanishing Point

被引：2

作者：

Xu, Weijie ^{[1
]}

Li, Ping ^{[1
]}

Han, Bo ^{[1
]}

机构：

[1] Zhejiang Univ, Inst Ind Proc Control, Hangzhou 310003, Zhejiang, Peoples R China

来源：

2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年

关键词：

MAV; attitude measurement; vanishing point; Hough transform;

D O I：

10.1109/WCICA.2010.5554686

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For Micro Aerial vehicles (MAV) flying low in the city, an attitude estimation method based on machine vision is presented. First, the method detects the straight edge lines using Hough transform from the downward looking images captured. Then, a voting scheme that uses pixels as accumulators is applied to simultaneously evaluate the vertical edge lines of buildings and the vanishing point at which they converge. Finally, the attitude of UAV is calculated according to single view geometry. The experiment results indicate that the method detects the vanishing point reliably, and estimate the attitude precisely.

引用

页码：6158 / 6162

页数：5

共 13 条

[1] [Anonymous], P BRIT MACH VIS C BM
[2] MULTIRESOLUTION HOUGH TRANSFORM - AN EFFICIENT METHOD OF DETECTING PATTERNS IN IMAGES
ATIQUZZAMAN, M
[J]. IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, 1992, 14 (11) : 1090 - 1095
[3] BAMARD S, 1983, ARTIF INTELL, V21, P435
[4] GPS/INS uses low-cost MEMS IMU
Brown, AK
[J]. IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE, 2005, 20 (09) : 3 - 10
[5] Dusha D, 2007, 9 BIENN C AUSTR PATT, P485
[6] Ettinger SM, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P2134, DOI 10.1109/IRDS.2002.1041582
[7] Minagawa A, 2000, IEICE T INF SYST, VE83D, P1574
[8] Mukundan R., 1994, Journal of Spacecraft Technology, V4, P60
[9] SARIPALLI S, 2002, P INT S EXPT ROBOTIC, P466
[10] Sasa S., 2000, AIAA 38 AER SCI M EX, P1

← 1 2 →