Open AccessUAV ranging method based on monocular vision
Author(s) -
Yicheng Rong,
Zhiyong Zhang,
Changzhen Qiu,
Zezheng Ye
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1873/1/012041
Subject(s) - ranging , hue , artificial intelligence , computer vision , monocular , computer science , fiducial marker , monocular vision , brightness , feature (linguistics) , physics , optics , telecommunications , linguistics , philosophy
Aiming at the problem that the unmanned aerial vehicle (UAV) cannot complete the positioning and ranging in the complex background and the signal is interfered, we proposed a monocular measurement scheme of assigning 4 LED fiducials (also called landmarks) with 3 colors in total on the target UAV. Firstly, feature areas are screened out by using high saturation, high brightness and specific hue range of LED in HSV (Hue, Saturation, Value) color space. After morphological processing, the background that does not meet the features is removed. Then, the mapping relationship between target LED fiducials and image fiducials is established by using the average hue of connected domain and special geometric layout. The improved Lambda-Twist is used to find the distance from the target UAV to the center of the camera, and the performance of the UAV recognition and ranging from 90m to 245m is tested. The experimental results show that the method can quickly and accurately measure the distance to the target, and can be used for UAV auxiliary measurement.