Institutional Repository of Chinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs | |
Sun, Siyang1,2; Yin, Yingjie1,2; Wang, Xingang1,2; Xu, De1,2 | |
发表期刊 | IEEE TRANSACTIONS ON CYBERNETICS |
ISSN | 2168-2267 |
2019-12-01 | |
卷号 | 49期号:12页码:4167-4179 |
通讯作者 | Yin, Yingjie(yingjie.yin@ia.ac.cn) |
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 |
DOI | 10.1109/TCYB.2018.2859422 |
关键词[WOS] | POSE ESTIMATION ; LOCALIZATION ; ALGORITHMS ; STRATEGY ; BOOM |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China[61573349] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61703398] ; National High Technology Research and Development Program of China (863 Program)[2015AA042308] ; National Natural Science Foundation of China[61573349] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61703398] ; National High Technology Research and Development Program of China (863 Program)[2015AA042308] |
项目资助者 | National Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program) |
WOS研究方向 | Automation & Control Systems ; Computer Science |
WOS类目 | Automation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics |
WOS记录号 | WOS:000485687200010 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 机器人感知与决策 |
引用统计 | |
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 | Yin, Yingjie |
作者单位 | 1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China |
第一作者单位 | 精密感知与控制研究中心 |
通讯作者单位 | 精密感知与控制研究中心 |
推荐引用方式 GB/T 7714 | Sun, Siyang,Yin, Yingjie,Wang, Xingang,et al. Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(12):4167-4179. |
APA | Sun, Siyang,Yin, Yingjie,Wang, Xingang,&Xu, De.(2019).Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs.IEEE TRANSACTIONS ON CYBERNETICS,49(12),4167-4179. |
MLA | Sun, Siyang,et al."Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs".IEEE TRANSACTIONS ON CYBERNETICS 49.12(2019):4167-4179. |
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