Abstract—

In this paper, the problem of an autonomous unmanned aerial vehicle (UAV) approach to a target which is selected in a reference image is addressed. A robust matching algorithm is proposed to reliably project the selected point in the reference image into the live images of a quadrotor helicopter. Projective transformations are applied to the reference image to extract additional keypoints and to gain invariance to out-of-plane perspective transformations. Since the matching algorithm does not exploit the beneficial characteristics of image sequences and because its processing time is not short enough for high frame rates, a tracking algorithm is introduced. High detection rates even for image sequences with large viewpoint changes are achieved. Therefore, the presented algorithm can be used as input to a guidance algorithm for UAVs.

中文翻译：

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宽基线图像匹配和跟踪相结合的自主无人机进近窗口

摘要-

在本文中，解决了在参考图像中选择的目标自动无人驾驶飞机（UAV）接近目标的问题。提出了一种鲁棒的匹配算法，以将参考图像中的选定点可靠地投影到四旋翼直升机的实时图像中。将投影变换应用于参考图像，以提取其他关键点并获得平面外透视变换的不变性。由于匹配算法没有利用图像序列的有益特性，并且由于其处理时间不足以用于高帧速率，因此引入了跟踪算法。即使对于具有较大视点变化的图像序列，也可以实现较高的检测率。因此，所提出的算法可以用作无人机的制导算法的输入。