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Automatic homing and landing method of UAV based on marker color and contour detection

A technology of contour detection and markers, which is applied in the direction of computer parts, instruments, characters and pattern recognition, etc., can solve problems such as difficult to achieve real-time, complex calculation, poor robustness, etc., achieve high applicability, and realize automatic landing , the effect of high accuracy

Active Publication Date: 2018-08-31
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The color feature of the image describes the global feature of the image, which is not sensitive to changes in the local size, direction, shape, etc. of the image, and cannot obtain the local features of the image well.
[0010] Corner feature detection is fast, but affected by image noise, lighting, etc., its robustness is not very good
Sift and Surf are computationally complex and difficult to meet real-time requirements, and feature points can also be detected when there is no target image in the video

Method used

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  • Automatic homing and landing method of UAV based on marker color and contour detection
  • Automatic homing and landing method of UAV based on marker color and contour detection
  • Automatic homing and landing method of UAV based on marker color and contour detection

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Embodiment Construction

[0047] Below in conjunction with accompanying drawing and embodiment the technical solution of the present invention is described in further detail:

[0048] The present invention is based on the color and contour detection of markers to automatically find a landing method for unmanned aerial vehicles, such as figure 1 , 2 , 3, 4 and 15, the specific content will not be repeated here.

[0049] In this example, the video is collected from a camera that is 1-4 meters away from the target. The maximum angle of declination between the camera lens and the target normal is 60 degrees, the frame size is 1920*1080, and the frame rate is 29f / s. Marker images such as Figure 5 As shown, the size of the picture is 1000*1000 pixels, the size of the red part in the middle is 520*520, and the ratio of the area of ​​the red area to the area of ​​the blue area is about 0.37. Detect the target area, and detect the area of ​​the marker in the image by limiting the color and shape of the land...

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Abstract

The invention discloses an automatic landing method for unmanned aerial vehicles based on marker color and contour detection, which uses video images collected by an airborne camera in real time as objects to automatically and accurately detect the position of the target in the image, and then Calculate the coordinates of the target in the image and the relative distance between the drone and the target. This method uses the color features of the marker graphics and the morphological features of the shape outline as the judgment basis, and can detect the marker graphics in real time, and then calculate the coordinates of the markers in real time. Landing has important application value.

Description

technical field [0001] The invention relates to a landing method for automatic homing of an unmanned aerial vehicle based on marker color and contour detection, and belongs to the field where digital image processing and unmanned aerial vehicle technology intersect. Background technique [0002] In recent years, the development of small UAVs and micro UAVs has driven new research in some fields, such as electronics, mechanics, aviation, automatic control, etc. Drones have great potential for search, rescue, homeland security, real-time forest fire prevention, monitoring of sensitive areas, and more. [0003] UAVs produced by UAV manufacturers at home and abroad vary greatly in terms of payload, scope of application, mission execution capabilities, and command, control, and data acquisition capabilities, and commercial and civilian applications are still in their infancy. [0004] In the process of performing missions of UAVs, the landing stage is the most prone to failure s...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/46
CPCG06V10/44G06V10/56
Inventor 白晓东吉利马曙晖张珺蓉吕晨飞赵来定谢继东肖建
Owner NANJING UNIV OF POSTS & TELECOMM
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