IMR OpenIR
Vision algorithms for fixed-wing unmanned aerial vehicle landing system
Alternative TitleVision algorithms for fixed-wing unmanned aerial vehicle landing system
Fan Yanming1; Ding Meng2; Cao Yunfeng2
2017
Source PublicationScience China. Technological Sciences
ISSN1674-7321
Volume60Issue:3Pages:434-443
AbstractAutonomous landing has become a core technology of unmanned aerial vehicle (UAV) guidance, navigation and control system in recent years. As a novel autonomous landing approach, computer vision has been studied and applied in rotary-wing UAV landing successfully. This paper aims to fixed-wing UAV and focus on two problems: how to find runway only depending on airborne front-looking camera and how to align UAV with the designated landing runway. The paper can be divided into two parts to solve above two problems respectively. In the first part, the paper firstly presents an algorithm of region of interest (ROI) detection, which is based on spectral residual saliency map, and then an algorithm of feature vector extraction based on sparse coding and spatial pyramid matching (SPM) is proposed, finally, ROI including designated landing runway is recognized by a linear support vector machine. In the second part, the paper presents an approach of relative position and pose estimation between UAV and landing runway. Estimation algorithm firstly selects five feature points on the runway surface, and then establishes a new earth-fixed reference frame, finally uses orthogonal iteration to estimate landing parameters including three parameters of distance, height and offset, and three pose parameters of roll, yaw, pitch. The experimental results verify the effectiveness of the algorithms proposed in this paper.
Other AbstractAutonomous landing has become a core technology of unmanned aerial vehicle (UAV) guidance, navigation and control system in recent years. As a novel autonomous landing approach, computer vision has been studied and applied in rotary-wing UAV landing successfully. This paper aims to fixed-wing UAV and focus on two problems: how to find runway only depending on airborne front-looking camera and how to align UAV with the designated landing runway. The paper can be divided into two parts to solve above two problems respectively. In the first part, the paper firstly presents an algorithm of region of interest (ROI) detection, which is based on spectral residual saliency map, and then an algorithm of feature vector extraction based on sparse coding and spatial pyramid matching (SPM) is proposed, finally, ROI including designated landing runway is recognized by a linear support vector machine. In the second part, the paper presents an approach of relative position and pose estimation between UAV and landing runway. Estimation algorithm firstly selects five feature points on the runway surface, and then establishes a new earth-fixed reference frame, finally uses orthogonal iteration to estimate landing parameters including three parameters of distance, height and offset, and three pose parameters of roll, yaw, pitch. The experimental results verify the effectiveness of the algorithms proposed in this paper.
Keywordvision-based landing spectral residual sparse coding position and pose estimation orthogonal iteration
Indexed ByCSCD
Language英语
CSCD IDCSCD:5931676
Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Identifierhttp://ir.imr.ac.cn/handle/321006/153265
Collection中国科学院金属研究所
Affiliation1.中国科学院金属研究所
2.南京航空航天大学
Recommended Citation
GB/T 7714
Fan Yanming,Ding Meng,Cao Yunfeng. Vision algorithms for fixed-wing unmanned aerial vehicle landing system[J]. Science China. Technological Sciences,2017,60(3):434-443.
APA Fan Yanming,Ding Meng,&Cao Yunfeng.(2017).Vision algorithms for fixed-wing unmanned aerial vehicle landing system.Science China. Technological Sciences,60(3),434-443.
MLA Fan Yanming,et al."Vision algorithms for fixed-wing unmanned aerial vehicle landing system".Science China. Technological Sciences 60.3(2017):434-443.
Files in This Item:
There are no files associated with this item.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Fan Yanming]'s Articles
[Ding Meng]'s Articles
[Cao Yunfeng]'s Articles
Baidu academic
Similar articles in Baidu academic
[Fan Yanming]'s Articles
[Ding Meng]'s Articles
[Cao Yunfeng]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Fan Yanming]'s Articles
[Ding Meng]'s Articles
[Cao Yunfeng]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.