نویسندگان
1 دانشگاه صنعتی مالک اشتر،دانش آموخته کارشناسی ارشد مهندسی برق،الکترونیک
2 دانشگاه صنعتی شریف، دکترای مهندسی برق
3 دانشگاه علم وصنعت، دکترای نانوالکترونیک
چکیده
کلیدواژهها
عنوان مقاله [English]
نویسندگان [English]
In this study, a vision-based algorithm for landing unmanned helicopter is developed to increase the accuracy of
pose estimation. In the current algorithm, the reference image of helipad has been matched with the image
acquired by the UAV mounted camera using SIFT technique to associate between the corresponding feature
points of these two images .Then, the corresponding features are used to estimate the pose of the helicopter
relative to the helipad using decomposition of Homography matrix. Applying a sensitivity analysis to pose
estimation accuracy, we found the important role of spatial distribution of features. So, a method is suggested
for choosing the best features in Homography matrix extraction. Moreover, a proper landmark is designed for
helipad such as its features have an inherently appropriate local distribution. This method is assessed
implementation in MATLAB software via the real images and different scenarios designed in VRML
environment are used. The results of proposed algorithm on produced images from different landmarks,
improved the pose estimation error about 30 percent.
کلیدواژهها [English]
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