Multi-scale air-ground parameter automatic calibration method based on monocular vision system

A monocular vision and automatic calibration technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of low cost performance and high quality of the binocular vision system, and achieve the effect of light weight, small size and robustness

Active Publication Date: 2016-03-16
DALIAN UNIV OF TECH
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This method can accurately extract the spatial parameters of the target object, but due to the large mass and lo...

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  • Multi-scale air-ground parameter automatic calibration method based on monocular vision system
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  • Multi-scale air-ground parameter automatic calibration method based on monocular vision system

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[0048] The specific embodiments of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.

[0049] First, choose black cardboard as the material to make a "back" type calibration board. The outer rectangle of the calibration board is 2 meters long and 1.5 meters wide, and the inner rectangle is 1 meter long and 0.75 meters wide. Next, it is necessary to select an outdoor experimental site. There are not many restrictions on the selection of the site, as long as the drone can fly stably at high altitude. The visual sensor adopts the FL3-U3-32S2C-CS type monocular visual sensor with a resolution of 3.2 million pixels, a frame rate of 60 Hz, an interface of USB3.0, and a horizontal field of view of the lens of 62.3° (a small aircraft at an altitude of ten meters , the shooting field of view is 100 square meters). Place the small aircraft on the selected site, power on the device, and after the flight control...

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Abstract

The invention provides a small aircraft multi-scale air-ground parameter automatic calibration method based on a monocular vision system. A self-made calibration board formed by splicing dark paper boards serves as a calibration tool, through a series of processing algorithms such as binarization, edge extraction, contour searching, contour minimum enclosing rectangle calculation, and noise filtering, feature points belonging to the calibration board are extracted from acquired image data, the ratio of an actual distance to a pixel number is obtained, the points are connected by using a smooth curve when the flying height of the aircraft measured by a barometer is combined, and finally, an air-ground multi-parameter relation function curve is obtained. The innovation point of the invention is that the dark paper boards are adopted as the calibration device, online calibration on the flying height of the aircraft, ground object geometric parameters and the image resolution which are three correlated air-ground parameters can be quickly realized, and the foundation is laid for information fusion of multiple sensors.

Description

technical field [0001] The invention belongs to the technical field of autonomous environment perception of drones, and relates to a multi-scale air-ground parameter automatic calibration method for a small aircraft based on an airborne monocular vision system. Background technique [0002] The visual sensor is one of the main devices for UAVs to realize environmental perception, and it has the function of collecting images in real time. UAVs can realize aerial photography, target detection, tracking, and scene understanding based on airborne monocular vision. To realize the above functions of UAVs, automatic calibration of multi-scale air-ground parameters based on monocular vision must first be completed. Literature (WangIH, DobrokhodovVN, KaminerII, et al. "Onvision-based target tracking and range estimation for small UAVs". Proceedings of AIAA Guidance, Navigation and Control Conference. 2005) proposed a real-time detection and tracking algorithm for ground moving target...

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Application Information

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IPC IPC(8): G06T7/00
Inventor 庄严费阳闫飞汪群祥
Owner DALIAN UNIV OF TECH
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