借助于特征点的自主视觉测高方法研究

提出了一种借助于单个特征点的异步视觉自主测高方法。所提方法将内外参分离标定, 计算效率高。在构建的6自由度飞行模拟装置上对该方法进行了验证, 结果表明：当测试高度在2 m以内时, 测量的绝对误差小于0.02 m, 相对误差优于1.5%。该方法对计算负载的要求低, 特别适用于机上快速解算的应用场合, 也可拓展至对地目标定位的测量应用中。

Abstract

An autonomous measurement method of height based on the asynchronous vision of a single feature point is proposed, in which the internal and external matrix are calibrated separately and thus the computational efficiency is high. This method is verified in the constructed flight simulation device with six degrees of freedom and the results show that, below the testing height of 2 m, the absolute measurement error is less than 0.02 m and the relative error is superior to 1.5%. This method requires a less computing load, and is particularly suitable to the application of fast decoding in planes, and can also be extended to the measurement application of the ground target positioning.

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刘峰, 樊梦琦, 王向军, 陈晓昀. 借助于特征点的自主视觉测高方法研究[J]. 激光与光电子学进展, 2018, 55(9): 091206. Liu Feng, Fan Mengqi, Wang Xiangjun, Chen Xiaoyun. Self-Vision Height Measurement Method Based on Feature Points[J]. Laser & Optoelectronics Progress, 2018, 55(9): 091206.

借助于特征点的自主视觉测高方法研究

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