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A Survey of Computer Vision Applied in Aerial Robotic Vehicles

机译：在空中机器人车辆中应用计算机视觉的调查

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摘要

Unmanned Aerial Vehicles (UAVs) are expected to serve as aerial robotic vehicles to perform tasks on their own. Computer vision is applied in UAVs to improve their autonomies both in flight control and perception of environment around them. A survey of researches in such a field is presented. Based on images and videos captured by on-board camera(s), vision measures, such as stereo vision, optical flow fields etc. extract useful features which can be integrated with flight control system to form visual servoing. Three main interests in this field are discussed: visual navigation, aerial surveillance and airborne visual Simultaneous Localization and Mapping (SLAM).
机译：无人驾驶飞行器（无人机）预计将作为空中机器人车辆，以自己执行任务。计算机愿景适用于无人机，以改善飞行控制和周围环境的感知的自治。提出了这种领域的研究调查。基于由板载相机捕获的图像和视频，视觉措施，如立体声视觉，光学流场等。提取可与飞行控制系统集成的有用功能，以形成视觉伺服。讨论了这一领域的三个主要兴趣：视觉导航，空中监控和空气传播的视觉同时定位和映射（SLAM）。

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