自动化学报2024，Vol.50Issue(7)：1284-1304,21.DOI:10.16383/j.aas.c230557
面向无人机自主着陆的视觉感知与位姿估计方法综述
A Survey on Vision-based Sensing and Pose Estimation Methods for UAV Autonomous Landing
摘要
Abstract
Autonomous landing technology is the most challenging technology to restrict the improvement of un-manned aerial vehicle(UAV)autonomy level.Focusing on the core problem of autonomous landing technology of UAV——Landing site detection and pose estimation,the research progress in this field in the past decade is sum-marized in this paper,which is on the basis of the development demand of vision-based autonomous landing techno-logy in the future.First of all,on the basis of analyzing the application demand for UAV autonomous landing,the advantages of the application of machine vision in the field of UAV autonomous landing are pointed out,and the existing scientific problems are summarized.Secondly,the landing site detection algorithms are sorted according to different application scenarios.Then,the research progress of pose estimation technology based on vision and multi-information fusion are summarized,respectively.Finally,the challenges to be solved in this field are summarized,and future technical development trends are introduced.关键词
自主着陆/无人机/机器视觉/着陆场检测/位姿估计/信息融合Key words
Autonomous landing/unmanned aerial vehicle(UAV)/machine vision/landing site detection/pose es-timation/information fusion引用本文复制引用
马宁,曹云峰..面向无人机自主着陆的视觉感知与位姿估计方法综述[J].自动化学报,2024,50(7):1284-1304,21.基金项目
国家自然科学基金(U2033201)资助Supported by National Natural Science Foundation of China(U2033201) （U2033201）
