论文标题
实时和自主检测用于降落四边形的Helipad通过视觉宣誓
Real-time and Autonomous Detection of Helipad for Landing Quad-Rotors by Visual Servoing
论文作者
论文摘要
在本文中，我们首先提出了一种实时自主检测Helipads的方法。我们的方法不依赖任何机器学习方法，因此可以实时适用于平均四轮旋转的计算能力。初始检测后，我们使用图像跟踪方法进一步减少计算资源需求。跟踪启动后，我们的修改后的IBV（基于图像的视觉伺服伺服）方法开始发布速度，以引导四轮旋转到Helipad上。修改后的IBV方案是为四个四轮旋转的四个自由度设计的，可以在特定方向上降落四轮旋转。
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average quad-rotor. After initial detection, we use image tracking methods to reduce the computational resource requirement further. Once the tracking starts our modified IBVS(Image-Based Visual Servoing) method starts publishing velocity to guide the quad-rotor onto the helipad. The modified IBVS scheme is designed for the four degrees-of-freedom of a quad-rotor and can land the quad-rotor in a specific orientation.
