| INS／Vision组合导航中地标识别算法研究 |
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| 引用本文： | 李光伟,曹聚亮,陈林,吴文启. INS／Vision组合导航中地标识别算法研究[J]. 兵工自动化, 2008, 27(6): 5-8 |
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| 作者姓名： | 李光伟 曹聚亮 陈林 吴文启 |
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| 作者单位： | 1. 清华大学,精密仪器与机械学系,北京,100084
2. 国防科技大学,机电工程与自动化学院,湖南,长沙,410073 |
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| 摘 要： | 以陆用车辆的惯性导航地标修正为背景，研究地标的图像识别算法。针对地标在摄像机中的成像存在旋转变换和尺度变换，首先利用INS输出的姿态数据，解决旋转变换问题，并提出2种解决尺度变化的方法——基于连续边缘特征值和基于尺度变化无关性的特征值。最后根据地标识别过程中出现误判率的问题，提出相应的解决方案，实验结果表明该算法较好地解决了实际问题，满足了修正惯导系统的需求。
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| 关 键 词： | 地标识别 旋转变换 尺度变换 地标修正 组合导航 |
Research on Image Recognition Algorithm of Landmark in INS/Vision Integrated Navigation System |
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| LI Guang-wei,CAO Ju-liang,CHEN Lin,WU Wen-qi. Research on Image Recognition Algorithm of Landmark in INS/Vision Integrated Navigation System[J]. Ordnance Industry Automation, 2008, 27(6): 5-8 |
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| Authors: | LI Guang-wei CAO Ju-liang CHEN Lin WU Wen-qi |
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| Affiliation: | LI Guang-wei, CAO Ju-liang, CHEN Lin, WU Wen-qi (1. Dept. of Precision Instrument ＆ Mechanology, Tsinghua University, Beijing 100084, China; 2. College of Electromechanical Engineering ＆ Automation, National University of Defense Technology, Changsha 410073, China) |
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| Abstract: | The image recognition algorithm of landmark which is used in landmark modifying of INS （Inertial Navigation System） is investigated. Considering the image of landmark in camera compared with template image presented rotation transform and scale transform, the INS＇s output is used to solve rotation transform, and two methods are presented to solve scale transform-- based on continuous edge characteristic value and the changeless characteristic value of scale transform. Finally toward different wrong recognition situations, corresponding methods are given accordingly. The experiment shows that the landmark recognition algorithm proposed can solve the problems well, and satisfy the correcting needs of INS. |
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| Keywords: | Landmark recognition Rotation transform Scale transform Landmark modify Integrated navigation |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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