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Real-time runway detection method based on sensor prior knowledge

A technology of prior knowledge and detection methods, applied in the directions of instruments, measuring devices, mapping and navigation, etc., can solve problems such as runway detection, and achieve the effect of improving accuracy, reducing search area, and reducing the amount of calculation.

Active Publication Date: 2018-06-29
XIAN AVIATION COMPUTING TECH RES INST OF AVIATION IND CORP OF CHINA
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Problems solved by technology

[0005] Addressing Runway Detection in Airborne Live Imagery

Method used

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  • Real-time runway detection method based on sensor prior knowledge
  • Real-time runway detection method based on sensor prior knowledge
  • Real-time runway detection method based on sensor prior knowledge

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Embodiment Construction

[0034] In the airborne enhanced synthetic vision system, it is necessary to detect and recognize the runway information in the forward-looking visible light video in real time. Taking this system as an example, the method described in the patent is specifically applied. The airborne enhanced synthetic vision system has one video input and one video output. The specific runway detection steps for each frame of input image are as follows:

[0035] Step 1: Assume the corner point P of the runway in the world coordinate system W =(x W ,y W ,z W ) T , needs to be converted to a point P in the camera coordinate system C =(x C ,y C ,z C ) T , then the conversion process requires one rotation Add a translation T W , the corner position in the camera coordinate system is obtained as follows:

[0036]

[0037] where T W Can be obtained directly from GPS data:

[0038] T W =(x W ,y W ,z W ) T (4-10)

[0039] while the rotation matrix The calculation process of i...

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Abstract

The invention belongs to the technical field of embedded computer image processing and in particular relates to a real-time runway detection method based on sensor prior knowledge. A conventional runway detection algorithm mainly aims at satellite images and downward-looking high-altitude aerial images, the images are not accordant with fore-sight aerial images required by a vehicle-mounted synthetic vision system, in addition, detection is carried out for static images generally, a relatively long calculation time is needed, and the real-time requirement cannot be met. Therefore, the invention discloses the real-time runway detection method based on sensor prior knowledge. By adopting the method, information such as flying positions and postures provided by a vehicle-mounted sensor is also included into calculation, so that search areas of runway detection can be greatly reduced, and positions of runways in images can be rapidly and accurately detected.

Description

technical field [0001] The invention belongs to the technical field of embedded computer image processing, in particular to a real-time runway detection method based on sensor prior knowledge. Background technique [0002] With the development of airborne avionics technology, many flight assistance systems have been born. Among them, the enhanced vision system can improve the pilot's perception of the external environment and enhance flight safety. The runway detection technology plays an important role in the enhanced vision system. However, the existing runway detection methods are mainly aimed at satellite images and downward-looking high-altitude aerial images, which are inconsistent with the forward-looking aerial images required by the airborne synthetic vision system, and are generally detected for static images, which take a long time to calculate and cannot Meet real-time requirements. This requires a real-time and efficient runway detection method, which can acc...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00G06K9/00
CPCG01C11/00G06V20/182
Inventor 程岳李亚晖谢建春张磊文鹏程白林亭
Owner XIAN AVIATION COMPUTING TECH RES INST OF AVIATION IND CORP OF CHINA
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