天津工业大学学报2017，Vol.36Issue(1)：55-60,6.DOI:10.3969/j.issn.1671-024x.2017.01.010
基于Meanshift与摄像机标定的无人机定位方法
Positioning method of unmanned aerial vehicles based on Meanshift and camera calibration
摘要
Abstract
Under the condition of the signal failure of the global positioning system (GPS), a method for calculating abso-lute position of unmanned aerial vehicles(UAV) by using moving targets locus filmed by onboard camera and the relative position between moving targets and UAV is proposed. This method combines Meanshift target tracking algorithm with camera calibration technology to calculate the position. According to the obtained internal and ex-ternal camera parameters, image pixel coordinates of moving targets and relative position between UAV and moving targets, the world coordinates of UAV can be calculated. Multiple sets of experimental data verifies that the absolute error of calculating data is no more than 1%of the real data. Simulation results validate the feasibili-ty of the proposed method in the field of UAV autonomous flight.关键词
摄像机标定/无人机/定位/目标追踪/Meanshift算法Key words
camera calibration/unmanned aerial vehicles(UAV)/positioning/target tracking/Meanshift algorithm分类
信息技术与安全科学引用本文复制引用
成怡,王晓红,修春波..基于Meanshift与摄像机标定的无人机定位方法[J].天津工业大学学报,2017,36(1):55-60,6.基金项目
国家自然科学基金资助项目(61203302) （61203302）
天津市应用基础与前沿技术研究计划项目(14JCYBJC18900) （14JCYBJC18900）
