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Method for on-line self-calibration of external parameters of cameras of bionic landing system of unmanned gyroplane

A technology of unmanned rotorcraft and landing system, applied in the field of camera external parameter self-calibration

Inactive Publication Date: 2012-05-23
SHANGHAI UNIV
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Problems solved by technology

No matter what type of calibration is being studied, it can only be in the state of offline calibration, and the external parameters at a certain moment can be obtained, and it cannot realize online real-time calibration for the constantly changing parameters of the camera.

Method used

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  • Method for on-line self-calibration of external parameters of cameras of bionic landing system of unmanned gyroplane
  • Method for on-line self-calibration of external parameters of cameras of bionic landing system of unmanned gyroplane
  • Method for on-line self-calibration of external parameters of cameras of bionic landing system of unmanned gyroplane

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Embodiment Construction

[0075] A preferred embodiment of the present invention is described in detail as follows in conjunction with accompanying drawing: See image 3 , the whole system adopted by the camera off-line parameter self-calibration method of the unmanned rotorcraft bionic landing system, including the ground control system 1 (PC machine), the airborne control system 2, the unmanned rotorcraft 3 and the landing target 4. Among them, the model selected for the airborne camera is Canon VC-C50iR, with a variable focal length.

[0076] see Figure 4 , the self-calibration method of the camera's off-line and off-line parameters of the bionic landing system of the unmanned rotorcraft, the operation steps adopted are as follows:

[0077] (1) Internal parameter calibration (internal parameter calibration 1):

[0078] ① Take the calibration image, the spatial point distribution of the calibration image must conform to Figure 5 shown.

[0079] ② Substitute the image coordinates into the intern...

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Abstract

The invention relates to a method for the on-line self-calibration of external parameters of cameras of a bionic landing system of an unmanned gyroplane. The method can solve the problem of a blind zone of stereoscopic vision in a descending process of a gyroplane and improve the landing precision of the unmanned gyroplane. The actual operating steps comprise: (1) calibration of internal parameters; (2) calibration of external parameters; and (3) on-line self-calibration of the external parameters. The method can realize the on-line self-calibration of the external parameters of double cameras carried in the unmanned gyroplane, obtain optical axis included angle information and height information of the cameras in real time, and effectively solve the problem of the blind zone of binocularstereoscopic vision, so that the automatic landing of the unmanned gyroplane is ensured, and the security of the system is improved.

Description

technical field [0001] The invention relates to a method for self-calibrating the external parameters of a camera mounted on the rotorcraft in a bionic binocular vision assisted landing system for an unmanned rotorcraft. Background technique [0002] In the study of the autonomous landing of the unmanned rotorcraft, in order to solve the problem of blind spots in the stereo vision during the descent, the method of imitating the anisotropic movement of the human eyes was adopted, and the angle of sight axis of the binocular vision system was changed to reduce the blind spots. However, with the change of the viewing axis angle, the external parameters of the camera also change accordingly. No matter what type of calibration is being studied, it can only be in the state of offline calibration, and the external parameters at a certain moment can be obtained, and online real-time calibration cannot be realized for the constantly changing parameters of the camera. How to calibrat...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 张丽薇罗均谢少荣李恒宇童金王涛
Owner SHANGHAI UNIV
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