基于立体视觉和三维激光扫描仪的无人机自主避障和导航技术研究.pdf

中图分类号:TP391 论文编号:1028703 12-S276 学科分类号:080402 硕士学位论文基于立体视觉和三维激光扫描仪的无人机自主避障和导航技术研究研究生姓名 Syed Ghafoor Shah 学科、专业测试计量技术及仪器研究方向计算机视觉指导教师徐贵力教授南京航空航天大学研究生院自动化学院二О一二年二月 Nanjing University of Aeronautics and Astronautics The Graduate School College of Automation Engineering Autonomous Obstacle Avoidance and Navigation of UAV Using Stereo Vision and 3D Scanner A Thesis in Instrument Science and Technology by Syed Ghafoor Shah Advised by Professor Xu Guili Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Engineering Feb, 2012 承诺书本人声明所呈交的学位论文是本人在导师指导下进行的研究工作及取得的研究成果。除了文中特别加以标注和致谢的地方外,论文中不包含其他人已经发表或撰写过的研究成果,也不包含为获得南京航空航天大学或其他教育机构的学位或证书而使用过的材料。本人授权南京航空航天大学可以将学位论文的全部或部分内容编入有关数据库进行检索,可以采用影印、缩印或扫描等复制手段保存、汇编学位论文。(保密的学位论文在解密后适用本承诺书) 作者签名: 日期: UNDERTAKING It is declared that this Master thesis pleted through independent research by myself under the guidance of my supervisor. Except for the stated references and acknowledgements, this thesis does not contain any research achievement published or written by others. This thesis also does not contain any material used for the purpose of obtaining the degree or certificate from Nanjing University of Aeronautics and Astronautics or any other educational institution. I hereby authorize Nanjing University of Aeronautics and Astronautics pile part or whole of the thesis into related database for retrieval and to save and collect the thesis by such duplicating methods as photocopying, reduction-printing or scanning. (This undertaking will beapplicable to classified theses after they have been de- classified) Author signature: Date: NANJING UNIVERSITY OF AERONAUTICS & ASTRONAUTICS MASTER THESIS i 摘要随着无人机和微型飞行器的发展,未来需求要求无人机能够自主、高精度、高可靠地实现任务目标,当前,无人机室内环境下的自主避障与导航技术是一个研究热点和难点问题。因此,本文提出了基于双目立体视觉的多传感器融合系统的微型飞行器自主实时避障和导航方法。首先,本文在综合分析微型飞行器室内环境下自主避障和导航要求与条件的基础上,研究了基于双目立体视觉的自主导航系统。由于双目立体视觉系统的模型是测量微型飞行器的位置和方位角的关键技术之一,目前基于小孔成像的简单视觉模型无法满足高精度的深度测量要求,因此,本文开展了摄像机视觉模型的相关理论与实验工作,研究得到了摄像机的经