摘要
为了全面了解航空器应用背景下的视觉导航相关技术的研究与进展,深入分析了视觉导航关键技术.分别对与传感器图像相关的载体姿态提取技术、基于图像匹配算法的定位技术以及基于序列图像的速度测量技术这三种技术进行了全面阐述,重点论述了姿态与参考特征的关系、景像匹配定位的核心算法及速度测量的两类方法,并总结了视觉导航发展过程中的相关难点与发展趋势.
In order to have a comprehensive understanding of research and development of visual navigation technology in aircraft fields,the key technologies of visual navigation are analyzed.Three technologies are systematically expatiated, including the methods for obtaining the aircraft attitude from the sensors image,the positioning methods based on image matching algorithms,and the velocity measurement technology based on image sequence.The relationship between attitude and reference features,the core algorithms of scene matching for position and the two methods for velocity measurement are mainly discussed.The related difficulties and trend in the developing of visual navigation are also summarized.
出处
《信息与控制》
CSCD
北大核心
2010年第5期607-613,共7页
Information and Control
基金
国家973计划资助项目(2009CB724002)
航空科学基金资助项目(20090852012)
关键词
视觉导航
图像处理
图像匹配
特征提取
姿态
位置
速度
visual navigation
image processing
image matching
feature extraction
attitude
position
speed
