无人机自主导航中LiDAR点云与图像特征提取与配准方法研究

项目名称： 无人机自主导航中LiDAR点云与图像特征提取与配准方法研究

项目编号： No.61503405

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 赵晓林

作者单位： 中国人民解放军空军工程大学

项目金额： 21万元

中文摘要： 小型无人机平台飞行稳定性低，获取的LiDAR和图像数据质量往往较差且存在尺度变化，导致LiDAR点云与图像数据的鲁棒、快速配准依然是一个难题，也是目前是制约基于LiDAR和图像传感器的组合导航技术在无人机自主导航领域广泛应用的关键问题。针对此问题，本课题研究适于高动态平台自主导航的LiDAR点云与图像特征提取与配准方法。首先研究多尺度一致的点云提取算法，建立多尺度点云，并通过特征曲率检测方法提取不同尺度下的几何局部特征，在多尺度几合局部特征基础上研究相应特征描述符和匹配方法，实现多尺度一致的点云局部特征提取；然后，在多尺度一致点云局部特征提取研究基础上，开展基于边缘片段和控制点的局部图像特征与LiDAR点云局部特征的匹配方法，并对其中涉及的关键问题进行实验验证；最终，提出适于高动态平台、小型化LiDAR和图像传感器组合导航特点的特征提取与配准方法。

中文关键词： 自主导航；LiDAR点云；特征提取；配准

英文摘要： Unmanned Aerial Vehicle(UAV) autonomous navigation technology has become an important research direction in the field of navigation and have great potential application in military and civilian areas. Systems using satelliates to aid INS suffer the problem of signal blocking and jamming.So independent integrated navigation system, which sensing the environment to aid Inertial Navigation System(INS), are regarded as one potential effective solution. Compare with many kinds of senors, vision camera and Light Detection and Ranging(LIDAR) are able to mapping 3D environment directly and accurately. So it is possible to integrate LiDAR and Vision and for precise navigation on military or civil area. . In this proposal, the consistency of Vision and LIDAR integrated multiple-source localization in UAV autonomous navigation system will be considered, including consistency problem for feateure detection, measurement consistency problem among Vision and LIDAR system. The problems are tight parts for a whole.. This proposal will discuss local interest point detector algorithm in point cloud with multi-scale consistency. In this work, the multi-scale point cloud local feature extraction algorithm will be in depth research by analyzing the point cloud smoothing algorithm with the establishment of the multi-scale point cloud.. Then,the visual features and point cloud features will be registrated to improve the localization and navigation results. A cascade structure of fusing visual features and LIDAR point cloud features will be proposed.. All in all, camera and LIDAR are both popular senors in localization and autonomous navigation application, it is worthful to research on registration of UAV localization and autonomous navigation using Vision and LIDAR integrated system.

英文关键词： Autonomous Navigation;LiDAR Point Cloud;Feature Extraction;Registration