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Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs

文献类型：期刊论文

作者Sun, Siyang1,2; Yin, Yingjie1,2; Wang, Xingang1,2; Xu, De1,2
刊名IEEE TRANSACTIONS ON CYBERNETICS
出版日期2019-12-01
卷号49期号:12页码:4167-4179
关键词Aerial refueling landmark detection monocular vision multitask parallel deep convolution neural network (MPDCNN) position measurement
ISSN号2168-2267
DOI10.1109/TCYB.2018.2859422
通讯作者Yin, Yingjie(yingjie.yin@ia.ac.cn)
英文摘要In this paper, a position measurement system, including drogue's landmark detection and position computation for autonomous aerial refueling of unmanned aerial vehicles, is proposed. A multitask parallel deep convolution neural network (MPDCNN) is designed to detect the landmarks of the drogue target. In MPDCNN, two parallel convolution networks are used, and a fusion mechanism is proposed to accomplish the effective fusion of the drogue's two salient parts' landmark detection. Considering the drogue target's geometric constraints, a position measurement method based on monocular vision is proposed. An effective fusion strategy, which fuses the measurement results of drogue's different parts, is proposed to achieve robust position measurement. The error of landmark detection with the proposed method is 3.9%, and it is obviously lower than the errors of other methods. Experimental results on the two KUKA robots platform verify the effectiveness and robustness of the proposed position measurement system for aerial refueling.
WOS关键词POSE ESTIMATION ; LOCALIZATION ; ALGORITHMS ; STRATEGY ; BOOM
资助项目National Natural Science Foundation of China[61573349] ; National Natural Science Foundation of China[61421004] ; National Natural Science Foundation of China[61703398] ; National High Technology Research and Development Program of China (863 Program)[2015AA042308]
WOS研究方向Automation & Control Systems ; Computer Science
语种英语
WOS记录号WOS:000485687200010
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; National High Technology Research and Development Program of China (863 Program)
源URL[http://ir.ia.ac.cn/handle/173211/21699]  
专题精密感知与控制研究中心_精密感知与控制
通讯作者Yin, Yingjie
作者单位1.Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式
GB/T 7714		 Sun, Siyang,Yin, Yingjie,Wang, Xingang,et al. Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(12):4167-4179.
APA Sun, Siyang,Yin, Yingjie,Wang, Xingang,&Xu, De.(2019).Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs.IEEE TRANSACTIONS ON CYBERNETICS,49(12),4167-4179.
MLA Sun, Siyang,et al."Robust Landmark Detection and Position Measurement Based on Monocular Vision for Autonomous Aerial Refueling of UAVs".IEEE TRANSACTIONS ON CYBERNETICS 49.12(2019):4167-4179.

入库方式： OAI收割

来源：自动化研究所

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