利用光流獲取無人飛行器速度與偏航角

ACQUISITION OF MAV VELOCITY AND HEADING USING OPTICAL-FLOW METHOD

林楷昇(Kai-Sheng Lin)

指導教授 ： 蕭富元

淡江大學/工學院/航空太空工程學系碩士班/碩士(2012年)

https://doi.org/10.6846/TKU.2012.00381

摘要

本研究指在探討如何利用光流的方法，量測微飛行器的速度跟航向。傳統上對於無人飛行器的飛行資訊量測，多倚賴慣性量測元件或其它感測器。然而，這些量測元件大部份都很重，且體積龐大，並不適合安裝在微型飛行器上。本研究則探討利用光流來來獲取這些資訊的可行性。本文首先介紹影像處理的基本流程，接著經由影像處理的結果與光流理論，來計算飛行資訊，並以實驗結果來驗證此方法的可行性。

關鍵字

微型飛行器 ； 速度 ； 姿態 ； 光流

並列摘要

This thesis investigates the acquisition of velocity and heading of micro aerial vehicles (MAVs) using optical-flow method. Conventionally, the measurement of flight information of an unmanned aerial vehicle(UAV), including velocity and attitude angles, requires an inertial measurement unit or some other sensors. However, those sensor are large in size and heavy in weight. They are not suitable to install on an MAV.In this thesis, we investigate the feasibility to apply optical flow to acquire these information. We first review the basics of image processing.Then, the results from image processing, collaborated with algorithms of optical flow method, are used to compute the velocity and heading angle. Experiments are also designed to demonstrate the feasibility of the method.

並列關鍵字

micro aerial vehicle ； velocity ； attitude ； optical flow

參考文獻

[1] Gibson, J. J., The perception of the visual world, Boston:Houghton Mifflin, 1950.

[2] Wallach, H., O¡¦Connell, D. N., ¡¨The kinetic depth effect¡¨, J. exp. Psychol., 1953, 45, 205-217.

[3] Horn, B., Schunck, B., ¡¨Determining optical flow¡¨, Artificial Intelligence, 1981, 17, 185-203.

[4] Stefan Hrabar, Gaurav S. Sukhatme, Peter Corke, Kane Usher, Jonathan Roberts., ¡¨ Combined optic-flow and stereo-based navigation of urban canyons for a UAV.¡¨ In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 2005(IROS 2005), Aug 2005.

[5] Conroy J., Gremillion G., Ranganathan B., Humbert J.S., ¡¨Implementation of Wide-Field Integration of Optic Flow for Autonomous Quadrotor Navigation¡¨, Autonomous Robots, accepted Aug. 2009.