无人机轨道跟踪控制模型

将无人机技术与计算机视觉技术进行结合,利用四旋翼无人机、机载成像设备、图像处理系统,搭建了无人机图像处理平台。利用Open CV计算机视觉库和Microsoft Visual Studio开发环境,编写了图像处理程序,对无人机获取的轨道图像进行处理与分析。在对图片进行尺寸调整、色彩空间转换、滤波后,采用连通区域检测算法识别出轨道区域。然后采用边缘检测、霍夫直线变换从轨道区域中识别出轨道,并可计算出轨道中心线的坐标。

A Control Model of UAV Railway-Tracking Based on Machine Vision

In the field of rail transit,with a combination of UAV (unmanned aerial vehicle) technology and computer vi-sion technology,the four rotor UAV, airborne imaging equip-ment and image processing system are used to build a plat-form for railway tracking. Then,OpenCV computer vision li-brary and Microsoft Visual Studio development environment are used to write the image processing program,analyze and process the images acquired by UAV.After adjusting the size, converting the image colors and filtering,the tracked area is i-dentified by using the connected area detection algorithm. Fi-nally,the edge detection and Hough linear transformation are adopted to identify the track from the railway area,and calcu-late the coordinates of the track center line.