Institute for Computer Science and Control (SZTAKI), Eötvös Loránd Research Network (ELKH), H-1111 Budapest, Hungary.
ONERA-The French Aerospace Laboratory, 31000 Toulouse, France.
Sensors (Basel). 2021 Mar 21;21(6):2203. doi: 10.3390/s21062203.
Precise navigation is often performed by sensor fusion of different sensors. Among these sensors, optical sensors use image features to obtain the position and attitude of the camera. Runway relative navigation during final approach is a special case where robust and continuous detection of the runway is required. This paper presents a robust threshold marker detection method for monocular cameras and introduces an on-board real-time implementation with flight test results. Results with narrow and wide field-of-view optics are compared. The image processing approach is also evaluated on image data captured by a different on-board system. The pure optical approach of this paper increases sensor redundancy because it does not require input from an inertial sensor as most of the robust runway detectors.
精确导航通常通过不同传感器的传感器融合来实现。在这些传感器中，光学传感器使用图像特征来获取相机的位置和姿态。在最后进近过程中，跑道相对导航是一种特殊情况，需要稳健且连续地检测跑道。本文提出了一种用于单目相机的稳健阈值标记检测方法，并介绍了带有飞行测试结果的机载实时实现。比较了窄视场和宽视场光学的结果。还根据来自不同机载系统的图像数据评估了图像处理方法。本文的纯光学方法增加了传感器冗余度，因为它不需要惯性传感器的输入，而大多数稳健的跑道探测器都需要惯性传感器的输入。
