Path-Following of Quadrotor Aircraft Based on Vision
Qian Lyu · Journal of Sichuan Ordnance · 2014
Aiming at the problem of detecting linear shaped structures in a landscape for indoor quadrotor aircraft,an improved method based on monocular camera is provided for line detection and following.Firstly,a Region of Interest( ROI) window is divided from the image. An advanced alternative of the HSV-color filter is applied on every pixel to see whether it belongs to the line. Secondly,Gaussian Smoothing is applied to remove small distortions in the ROI. Finally,a Probabilistic Hough Transform( PHT) is performed to extract the line from the pre-processed image and determine a directional vector for making the platform move accordingly. Test results show that this method can effectively improve the line detection efficiency and ensure an accurate line-following task.