南京航空航天大学学报2012，Vol.44Issue(2)：165-171,7.
基于单目视觉的室内微型飞行器位姿估计与环境构建
Monocular Vision Based Motion Estimation of Indoor Micro Air Vehicles and Structure Recovery
摘要
Abstract
Micro air vehicles (MAVs) need reliable attitude and position information in indoor environment. The measurements of onboard inertial measurement unit (IMU) sensors such as gyros and acce-larometers are corrupted by large accumulated errors, and GPS signal is unavailable in such situation. Therefore, a monocular vision based indoor MAV motion estimation and structure recovery method is presented. Firstly, the features are tracked by biological vision based matching algorithm through the image sequence, and the motion of camra is estimated by the five-point algorithm. In the indoor enviro-ment, the planar relationship is used to reduce the feature point dimentions from three to two. Then, these parameters are optimized by an local strategy to improve the motion estimation and structure recovery accuracy. The measurements of IMU sensors and vision module are fused with extended Kalman fileter. The attitude and position information of MAVs is estimated. The experiment shows that the method can reliably estimate the indoor motion of MAV in real-time, and the recovered enviroment information can be used for navigation of MAVs.关键词
微型飞行器/生物视觉/维数降低/局部优化/位姿估计/环境构建Key words
micro air vehicle/ biological vision/ dimensionality reduction/ local optimization/ motion estimation/ environment recovery分类
航空航天引用本文复制引用
郭力,昂海松,郑祥明..基于单目视觉的室内微型飞行器位姿估计与环境构建[J].南京航空航天大学学报,2012,44(2):165-171,7.基金项目
国家自然科学基金(60804058)资助项目 （60804058）
江苏省自然科学基金(SBK201022724)资助项目. （SBK201022724）
