Vision Based Emergency Landing Field Auto-selecting Method for Fixed-wing UAVs
Liu,Xilong1; Zhang,Mingyi1; Cao,Zhiqiang2; Xu,De1
2016-11
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期2016-12-3
会议地点QingDao
摘要In this paper, a vision based method is proposed for fixed-wing unmanned aerial vehicles’ emergency landing field auto-selecting and security analyzing. Firstly, a strip structure detector SSD is designed to detect candidate landing fields in aerial images such as runways and roads. The SSD can also give the candidate strip’s precise direction. Secondly, the relationship of image position, direction, the real length of a strip on the ground and its length in image is deduced. Based on this relationship, a region can be determined around a candidate point in the image for security analyzing. In the end, we present an emergency landing field auto-selecting algorithm. Experiments with real aerial images show the validity of SSD, simulations verify the correctness of the deduced conclusion and the feasibility of the presented algorithm.
关键词Unmanned Aerial Vehicles Vision Navigation Auto-landing
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/12382
专题精密感知与控制研究中心_精密感知与控制
通讯作者Cao,Zhiqiang
作者单位1.the Research Center of Precision Sensing and Control, Institute of Automation
2.the State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Liu,Xilong,Zhang,Mingyi,Cao,Zhiqiang,et al. Vision Based Emergency Landing Field Auto-selecting Method for Fixed-wing UAVs[C],2016.
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