CAJ | 학술논문

视觉导航是利用图像信息进行飞机定位的,在无人机着陆过程中,为使机载传感器能始终追踪到机场跑道,提出了一种基于摄像机姿态与变焦控制的视觉跟踪方法;该方法通过调节摄像机姿态来追踪目标特征点,使目标特征点尽量位于成像平面的中心,然后根据无人机与机场跑道的距离,适时的调节焦距,以保证图像特征点完全位于图像平面内;实验结果表明,该法能很好地控制摄像机姿态角,使目标特征点位于图像中心附近,达到很好的跟踪效果;且该法操作简单,不需要增加图像处理的难度,实时响应速度快,可以满足工程需要.
시각도항시이용도상신식진행비궤정위적,재무인궤착륙과정중,위사궤재전감기능시종추종도궤장포도,제출료일충기우섭상궤자태여변초공제적시각근종방법;해방법통과조절섭상궤자태래추종목표특정점,사목표특정점진량위우성상평면적중심,연후근거무인궤여궤장포도적거리,괄시적조절초거,이보증도상특정점완전위우도상평면내;실험결과표명,해법능흔호지공제섭상궤자태각,사목표특정점위우도상중심부근,체도흔호적근종효과;차해법조작간단,불수요증가도상처리적난도,실시향응속도쾌,가이만족공정수요.
Vision navigation uses the image information to evaluate the aircraft position, in the process of landing, for airborne sensor can always follow up to the airport runway, presents a visual tracking algorithm which based on camera eontrolling. The algorithm by adjusting the camera to track the target feature makes the feature points as possible in the centre of imaging plane, and then according to the distance from the airport runway, timely adjust the focal length to ensure the image feature points in the image plane completely. Experimental results show that the law can control the camera angle well that made the target image feature points in the vicinity. And that the method is simple,don't need to increase the difficulty of image processing, and the real-time response speed is quick, can meet the project needs.