Attitude Algorithm of Micro-unmanned Air Vehicle Based on Monocular Vision
Dong Liang · Jisuanji gongcheng · 2012
To get the attitude of the Unmanned Air Vehicle(UAV) in the process of continuous flight,an attitude algorithm of Micro unmanned Air Vehicle(MUAV) based on monocular vision is introduced in this paper,by capturing the sequence images with monocular vision of unmanned camera,obtaining the feature points information with using Scale Invariant Feature Transform(SIFT) algorithm,based on epipolar geometry and Random Sample Consensus(RANSAC) method,the attitude transform information and navigation information of MUAV are resolved.Experimental results show that in proper environment with good matching points state,the attitude transform error with monocular vision is less than 0.1 degree,and accumulated attitude error within 180 degree rotation range is less than 1 degree.