Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs
Siyang Sun; Yingjie Yin; Xingang Wang; De Xu
发表期刊IEEE TRANSACTIONS ON CYBERNETICS
2018-08-16
期号0页码:0
摘要
In this paper, a position measurement system,
including drogue’s landmark detection and position computation
for autonomous aerial refueling of unmanned aerial vehicles,
is proposed. A multitask parallel deep convolution neural
network (MPDCNN) is designed to detect the landmarks of the
drogue target. In MPDCNN, two parallel convolution networks
are used, and a fusion mechanism is proposed to accomplish
the effective fusion of the drogue’s two salient parts’ landmark
detection. Considering the drogue target’s geometric constraints,
a position measurement method based on monocular vision is
proposed. An effective fusion strategy, which fuses the measurement
results of drogue’s different parts, is proposed to achieve
robust position measurement. The error of landmark detection
with the proposed method is 3.9%, and it is obviously lower than
the errors of other methods. Experimental results on the two
KUKA robots platform verify the effectiveness and robustness of
the proposed position measurement system for aerial refueling
关键词Aerial Refueling Landmark Detection Monocular Vision Multitask Parallel Deep Convolution Neural Network (Mpdcnn) Position Measurement.
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21699
专题精密感知与控制研究中心_精密感知与控制
通讯作者Yingjie Yin
推荐引用方式
GB/T 7714
Siyang Sun,Yingjie Yin,Xingang Wang,et al. Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs[J]. IEEE TRANSACTIONS ON CYBERNETICS,2018(0):0.
APA Siyang Sun,Yingjie Yin,Xingang Wang,&De Xu.(2018).Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs.IEEE TRANSACTIONS ON CYBERNETICS(0),0.
MLA Siyang Sun,et al."Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs".IEEE TRANSACTIONS ON CYBERNETICS .0(2018):0.
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