扑翼飞行器的视觉感知=Visual Perception of Flapping-Wing Aerial Vehicles: 英文/付强著

定价：58.00元

出版时间：2023.4

ISBN 978-7-5024-9436-0

9787502494360

This book introduces four crucial aspects of visual perception of the FWAV: (1) Video stabilization; (2) Target detection, recognition and localization; (3) Fixedheight control application; (4) Obstacle avoidance application. It presents new methods for aerial video stabilization, target detection and recognition, and target localization based on onboard vision. This book also introduces fixedheight control and obstacle avoidance applications for the FWAV based on offboard and onboard vision.

This book contains both theoretical results and practical experiments. It is written for researchers and engineers working in robotic visual servoing, machine vision, systems and control, etc. It can also be used as a supplementary reading material for senior undergraduate students and graduate students in the areas of automation, robotics, artificial intelligence,etc.

Contents

Chapter 1Introduction

1.1Motivation

1.2Related research

1.2.1Video stabilization

1.2.2Target detection, recognition and localization

1.2.3Fixedheight control and obstacle avoidance

1.2.4Visual perception system of FWAVs

1.3Outline of the book

Chapter 2Video Stabilization for FWAVs Based on Pantilt and Electronic

Image Stabilization

2.1Problem formulation

2.2Lightweight twoaxis pantilt

2.3Electronic image stabilization

2.3.1Motion estimation

2.3.2Motion filtering

2.3.3Image compensation

2.4Experimental results

2.4.1Prototype

2.4.2Flight experiments

2.5Summary

Chapter 3Biological Eagleeyebased Target Detection and Recognition

3.1Problem formulation

3.2Biological eagleeye visual imaging device

3.2.1Mechanical structure design

3.2.2Image acquisition module

3.2.3Control module

3.3Algorithm for target detection

3.3.1Visual attention mechanism

3.3.2Cooperative control for long and short focus cameras

3.3.3Lateral inhibition mechanism

3.3.4Target detection and recognition

3.4Experimental results

3.4.1Target searching of the shortfocus camera

3.4.2Target capture of the longfocus camera

3.4.3Edge extraction

3.4.4Target detection and recognition

3.5Summary

Chapter 4Onboard Monocularvisionbased Target Localization for

FWAVs

4.1Preliminaries

4.1.1Coordinate systems

4.1.2Generic camera model

4.1.3Problem formulation

4.2Target localization method

4.3Experimental results

4.3.1Simulation experiments

4.3.2Real experiments

4.4Appendix: simulation program

4.5Summary

Chapter 5Indoor Fixedheight Control for FWAVs Based on Offboard

Monocular Vision

5.1Problem formulation

5.2Problem solution

5.2.1Flappingwing aerial vehicle

5.2.2Image detection

5.2.3Kalman filter

5.2.4Closedloop control system

5.3Experimental results

5.3.1Experimental platform

5.3.2Comparative experiments

5.4Summary

Chapter 6Autonomous Obstacle Avoidance for FWAVs Based on Onboard

Monocular Vision

6.1Problem formulation

6.2Algorithm for obstacle avoidance

6.2.1Optical flow

6.2.2Fuzzy control

6.3Hardware preparation

6.3.1FWAV platform

6.3.2Flight control module

6.4Experimental results

6.4.1Control system test

6.4.2Real experiments

6.5Summary

Chapter 7Autonomous Obstacle Avoidance for FWAVs Based on Onboard

Stereo Vision

7.1Problem formulation

7.2Embedded target detection algorithm

7.2.1Dataset preparation

7.2.2Improved mobileNet target detection algorithm

7.3Improvement of binocular distance measurement accuracy

7.3.1Principle of binocular distance measurement

7.3.2Improving methods

7.4Experimental results

7.4.1Control strategy

7.4.2Experimental platform

7.4.3Real experiments

7.5Summary

References