صورة الغلاف

Machine vision based perception for vehicle-mounted UAV autonomous landing under GNSS-denied environments

محفوظ في:
الحاوية / القاعدة:Journal of King Saud University. Computer and Information Sciences vol. 37, no. 10 (Dec 2025), p. 334
المؤلف الرئيسي: Ma, Pengbo
مؤلفون آخرون: He, Chenyuan, Zhang, Zhouyu, Xv, Zhan, Wang, Hai, Cai, Yingfeng, Chen, Long, Zhong, Can, Zhang, Yiqun
منشور في:
Springer Nature B.V.
الموضوعات:
Landing
Field tests
Iterative algorithms
Usability
Collaboration
Deep learning
Machine vision
Visual perception
Unmanned aerial vehicles
Sensors
Neural networks
Unmanned ground vehicles
Infrared imagery
Computer vision
Algorithms
Object recognition
Light
Illumination
Border patrol
Visual perception driven algorithms
Vehicles
الوصول للمادة أونلاين:Citation/Abstract
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مستخلص:With the growing demand for collaborative Unmanned Aerial Vehicle (UAV) and Unmanned Ground Vehicle (UGV) operations, precise landing of a vehicle-mounted UAV on a moving platform in complex environments has become a significant challenge, limiting the functionality of collaborative systems. This paper presents an autonomous landing perception scheme for a vehicle-mounted UAV, specifically designed for GNSS-denied environments to enhance landing capabilities. First, to address the challenges of insufficient illumination in airborne visual perception, an airborne infrared and visible image fusion method is employed to enhance image detail and contrast. Second, a feature enhancement network and region proposal network optimized for small object detection are explored to improve the detection of moving platforms during UAV landing. Finally, a relative pose and position estimation method based on the orthogonal iteration algorithm is investigated to reduce visual pose and position estimation errors and iteration time. Both simulation results and field tests demonstrate that the proposed algorithm performs robustly under low-light and foggy conditions, achieving accurate pose and position estimation even in scenarios with inadequate illumination.
تدمد:1319-1578
DOI:10.1007/s44443-025-00345-3
المصدر:Computer Science Database