{"title":"一种基于视觉的无人直升机舰载着陆系统","authors":"Wulan Bagen, Ji-Ying Hu, Yuanming Xu","doi":"10.1109/CISP.2009.5305201","DOIUrl":null,"url":null,"abstract":"We design a vision-based system to enable an unmanned helicopter to land on a ship. Based on affine moment invariants, fuzzy recognition, Kalman filter and a PI controller, the helicopter can identify a target, track it, and land on it while the ship is in motion even oscillation. A simulation system, including an unmanned helicopter and a ship, has been developed for test our ideas. Simulation results validate our algorithm. In simulation our algorithm has successfully isolated the influence of helicopter's oscillation and found the best threshold between performance and precision. The results shown that our algorithm is robust, the tracker can track target in two-dimensions very well.","PeriodicalId":263281,"journal":{"name":"2009 2nd International Congress on Image and Signal Processing","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"15","resultStr":"{\"title\":\"A Vision-Based Unmanned Helicopter Ship Board Landing System\",\"authors\":\"Wulan Bagen, Ji-Ying Hu, Yuanming Xu\",\"doi\":\"10.1109/CISP.2009.5305201\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We design a vision-based system to enable an unmanned helicopter to land on a ship. Based on affine moment invariants, fuzzy recognition, Kalman filter and a PI controller, the helicopter can identify a target, track it, and land on it while the ship is in motion even oscillation. A simulation system, including an unmanned helicopter and a ship, has been developed for test our ideas. Simulation results validate our algorithm. In simulation our algorithm has successfully isolated the influence of helicopter's oscillation and found the best threshold between performance and precision. The results shown that our algorithm is robust, the tracker can track target in two-dimensions very well.\",\"PeriodicalId\":263281,\"journal\":{\"name\":\"2009 2nd International Congress on Image and Signal Processing\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-10-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"15\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 2nd International Congress on Image and Signal Processing\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CISP.2009.5305201\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 2nd International Congress on Image and Signal Processing","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CISP.2009.5305201","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A Vision-Based Unmanned Helicopter Ship Board Landing System
We design a vision-based system to enable an unmanned helicopter to land on a ship. Based on affine moment invariants, fuzzy recognition, Kalman filter and a PI controller, the helicopter can identify a target, track it, and land on it while the ship is in motion even oscillation. A simulation system, including an unmanned helicopter and a ship, has been developed for test our ideas. Simulation results validate our algorithm. In simulation our algorithm has successfully isolated the influence of helicopter's oscillation and found the best threshold between performance and precision. The results shown that our algorithm is robust, the tracker can track target in two-dimensions very well.
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