中国科技论文
中國科技論文
중국과기논문
Sciencepaper Online
2015年
8期
967-970
,共4页
导航制导与控制%导航%对比度熵图%熵流
導航製導與控製%導航%對比度熵圖%熵流
도항제도여공제%도항%대비도적도%적류
navigation guidance and control%navigation%contrast entropy image%entropy flow
飞行昆虫能够在复杂的自然环境中实现精确的导航,因此研究并借鉴飞行昆虫的导航机理,有助于开发更为高效的导航系统。飞行昆虫(以蜜蜂为代表)的视觉导航实验表明,飞行昆虫是基于图像信息流实现导航的。图像熵可以表征图像信息,为了更好地表征图像的纹理特征及空间分布,提出了对比度熵图的概念及其构造方法。借鉴光流算法及其应用于运动参数估计的思路,再结合卡尔曼滤波对结果进行优化,可得到对比度熵流仿生导航算法。实验表明,对比度熵图的导航算法比灰度熵图的导航算法有更好的导航性能。
飛行昆蟲能夠在複雜的自然環境中實現精確的導航,因此研究併藉鑒飛行昆蟲的導航機理,有助于開髮更為高效的導航繫統。飛行昆蟲(以蜜蜂為代錶)的視覺導航實驗錶明,飛行昆蟲是基于圖像信息流實現導航的。圖像熵可以錶徵圖像信息,為瞭更好地錶徵圖像的紋理特徵及空間分佈,提齣瞭對比度熵圖的概唸及其構造方法。藉鑒光流算法及其應用于運動參數估計的思路,再結閤卡爾曼濾波對結果進行優化,可得到對比度熵流倣生導航算法。實驗錶明,對比度熵圖的導航算法比灰度熵圖的導航算法有更好的導航性能。
비행곤충능구재복잡적자연배경중실현정학적도항,인차연구병차감비행곤충적도항궤리,유조우개발경위고효적도항계통。비행곤충(이밀봉위대표)적시각도항실험표명,비행곤충시기우도상신식류실현도항적。도상적가이표정도상신식,위료경호지표정도상적문리특정급공간분포,제출료대비도적도적개념급기구조방법。차감광류산법급기응용우운동삼수고계적사로,재결합잡이만려파대결과진행우화,가득도대비도적류방생도항산법。실험표명,대비도적도적도항산법비회도적도적도항산법유경호적도항성능。
With the facts that flying insects can achieve precise and high-speed navigation in complex natural environments,many experiments that focus on the navigation mechanism of flying insects have explored the possibilities for a more efficient,accurate and robust navigation strategy.In latest research results,it is revealed that honeybees navigate by images flowed through retinas. Concepts of entropy image and entropy flow are introduced to characterize topographic features and measure changes of the image respectively.A novel bionic visual navigation framework is proposed,integrating entropy flow with Kalman filter.To improve performance of intensity entropy image for characterizing texture feature and spatial distribution of an image,a functional concept of contrast entropy image is presented,which is applied to the proposed navigation algorithm.Comparing with simulation results of the normal intensity entropy image,a significant conclusion that contrast entropy image performs better and more robust in navigation has been made.