Structural target recognition algorithm for visual guidance of small unmanned helicopters

Yi Zhou; Tianmiao Wang; Jianhong Liang; Chaolei Wang; Yicheng Zhang

doi:10.1109/ROBIO.2012.6491084

Structural target recognition algorithm for visual guidance of small unmanned helicopters

Yi Zhou^*
, Tianmiao Wang
, Jianhong Liang
, Chaolei Wang
, Yicheng Zhang

^*Corresponding author for this work

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

In this paper we present a vision based guidance approach for small unmanned helicopters. The approach is integrated with Hu invariant moments based structural target recognition algorithm for visual acquisition of the target (a helipad) and a guidance model for locating the target. A color filter is designed to eliminate noises from the image by using HSL model. The improved structural target recognition algorithm can work robustly under the condition that the image is distorted by perspective projection. Besides, a visual guidance model is designed and implemented to locate the target accurately. With the help of the visual guidance, small unmanned helicopters can land on the target automatically. Finally, experiments are carried out to test the effectiveness and robustness of our algorithms.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
Pages	908-913
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2012.6491084
State	Published - 2012
Event	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Guangzhou, China Duration: 11 Dec 2012 → 14 Dec 2012

Publication series

Name	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

Conference

Conference	2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Country/Territory	China
City	Guangzhou
Period	11/12/12 → 14/12/12

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10.1109/ROBIO.2012.6491084

Cite this

Zhou, Y., Wang, T., Liang, J., Wang, C., & Zhang, Y. (2012). Structural target recognition algorithm for visual guidance of small unmanned helicopters. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest (pp. 908-913). Article 6491084 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). https://doi.org/10.1109/ROBIO.2012.6491084

@inproceedings{50a50c474a244c328ffdf57fddf99de2,

title = "Structural target recognition algorithm for visual guidance of small unmanned helicopters",

abstract = "In this paper we present a vision based guidance approach for small unmanned helicopters. The approach is integrated with Hu invariant moments based structural target recognition algorithm for visual acquisition of the target (a helipad) and a guidance model for locating the target. A color filter is designed to eliminate noises from the image by using HSL model. The improved structural target recognition algorithm can work robustly under the condition that the image is distorted by perspective projection. Besides, a visual guidance model is designed and implemented to locate the target accurately. With the help of the visual guidance, small unmanned helicopters can land on the target automatically. Finally, experiments are carried out to test the effectiveness and robustness of our algorithms.",

author = "Yi Zhou and Tianmiao Wang and Jianhong Liang and Chaolei Wang and Yicheng Zhang",

year = "2012",

doi = "10.1109/ROBIO.2012.6491084",

language = "英语",

isbn = "9781467321273",

series = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

pages = "908--913",

booktitle = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest",

note = "2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 ; Conference date: 11-12-2012 Through 14-12-2012",

}

Zhou, Y, Wang, T , Liang, J, Wang, C & Zhang, Y 2012, Structural target recognition algorithm for visual guidance of small unmanned helicopters. in 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest., 6491084, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest, pp. 908-913, 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012, Guangzhou, China, 11/12/12. https://doi.org/10.1109/ROBIO.2012.6491084

Structural target recognition algorithm for visual guidance of small unmanned helicopters. / Zhou, Yi; Wang, Tianmiao ; Liang, Jianhong et al.
2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 908-913 6491084 (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Structural target recognition algorithm for visual guidance of small unmanned helicopters

AU - Zhou, Yi

AU - Wang, Tianmiao

AU - Liang, Jianhong

AU - Wang, Chaolei

AU - Zhang, Yicheng

PY - 2012

Y1 - 2012

N2 - In this paper we present a vision based guidance approach for small unmanned helicopters. The approach is integrated with Hu invariant moments based structural target recognition algorithm for visual acquisition of the target (a helipad) and a guidance model for locating the target. A color filter is designed to eliminate noises from the image by using HSL model. The improved structural target recognition algorithm can work robustly under the condition that the image is distorted by perspective projection. Besides, a visual guidance model is designed and implemented to locate the target accurately. With the help of the visual guidance, small unmanned helicopters can land on the target automatically. Finally, experiments are carried out to test the effectiveness and robustness of our algorithms.

AB - In this paper we present a vision based guidance approach for small unmanned helicopters. The approach is integrated with Hu invariant moments based structural target recognition algorithm for visual acquisition of the target (a helipad) and a guidance model for locating the target. A color filter is designed to eliminate noises from the image by using HSL model. The improved structural target recognition algorithm can work robustly under the condition that the image is distorted by perspective projection. Besides, a visual guidance model is designed and implemented to locate the target accurately. With the help of the visual guidance, small unmanned helicopters can land on the target automatically. Finally, experiments are carried out to test the effectiveness and robustness of our algorithms.

UR - https://www.scopus.com/pages/publications/84876486739

U2 - 10.1109/ROBIO.2012.6491084

DO - 10.1109/ROBIO.2012.6491084

M3 - 会议稿件

AN - SCOPUS:84876486739

SN - 9781467321273

T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

SP - 908

EP - 913

BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest

T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012

Y2 - 11 December 2012 through 14 December 2012

ER -

Zhou Y, Wang T , Liang J, Wang C, Zhang Y. Structural target recognition algorithm for visual guidance of small unmanned helicopters. In 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest. 2012. p. 908-913. 6491084. (2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest). doi: 10.1109/ROBIO.2012.6491084

Structural target recognition algorithm for visual guidance of small unmanned helicopters

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