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首页> 外文期刊>International Journal of Intelligent Computing and Cybernetics >A monocular visual measurement system for UAV probe-and-drogue autonomous aerial refueling
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A monocular visual measurement system for UAV probe-and-drogue autonomous aerial refueling

机译：用于无人机探针和滴注自动空中加油的单眼视觉测量系统

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摘要

Purpose - The purpose of this paper is to develop a monocular visual measurement system for autonomous aerial refueling (AAR) for unmanned aerial vehicle, which can process images from an infrared camera to estimate the pose of the drogue in the tanker with high accuracy and real-time performance. Design/methodology/approach - Methods and techniques for marker detection, feature matching and pose estimation have been designed and implemented in the visual measurement system. Findings - The simple blob detection (SBD) method is adopted, which outperforms the Laplacian of Gaussian method. And a novel noise-elimination algorithm is proposed for excluding the noise points. Besides, a novel feature matching algorithm based on perspective transformation is proposed. Comparative experimental results indicated the rapidity and effectiveness of the proposed methods. Practical implications - The visual measurement system developed in this paper can be applied to estimate the pose of the drogue with a fast speed and high accuracy and it is a feasible measurement strategy which will considerably increase the autonomy and reliability for AAR. Originality/value - The SBD method is used to detect the features and a novel noise-elimination algorithm is proposed. Besides, a novel feature matching algorithm based on perspective transformation is proposed which is robust and accurate.
机译：目的 - 本文的目的是为无人驾驶飞行器开发自主空中加油（AAR）的单眼视觉测量系统，这可以从红外线摄像机处理图像以高精度和真实地估计油轮中滴漏的姿势 - 时间性能。设计/方法/方法 - 在可视测量系统中设计和实现了标记检测，特征匹配和姿势估计的方法和技术。调查结果 - 采用简单的BLOB检测（SBD）方法，这优于高斯方法的拉普拉斯。提出了一种新的噪声消除算法，用于排除噪声点。此外，提出了一种基于透视变换的新型特征匹配算法。比较实验结果表明提出的方法的快速度和有效性。实际意义 - 本文开发的视觉测量系统可以应用于以快速和高精度估计滴漏的姿势，并且是一种可行的测量策略，它将大大提高AAR的自主权和可靠性。原始性/值 - SBD方法用于检测特征，提出了一种新的噪声消除算法。此外，提出了一种基于透视变换的新型特征匹配算法，其坚固且准确。

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