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局限空间中基于单目视觉的四旋翼飞行器的位姿预估与导航.docx

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局限空间中基于单目视觉的四旋翼飞行器的位姿预估与导航 Title:PoseEstimationandNavigationofQuadrotorAircraftBasedonMonocularVisioninConfinedSpaces Abstract: Quadrotoraircrafthavegainedsignificantattentioninrecentyearsduetotheirabilitytonavigateinconfinedspaces.However,accuratelyestimatingthepose(positionandorientation)ofaquadrotorinsuchenvironmentsisachallengingtask.Thispaperaimstoexploretheuseofmonocularvisionforposeestimationandnavigationofquadrotoraircraftinconfinedspaces.Wediscussthelimitationsofthecurrentstate-of-the-arttechniquesandproposeanovelapproach. 1.Introduction Quadrotoraircraftareincreasinglybeingdeployedinvariousapplications,includingsurveillance,inspection,andsearchandrescuemissions.However,thesetasksoftenrequirethequadrotortooperateinconfinedspaces,suchasindoorenvironmentsorclutteredoutdoorareas.Accurateposeestimationandnavigationbecomecrucialforsafeandefficientoperationinsuchscenarios. 2.RelatedWork Previousresearchhasexploreddifferentmethodsforposeestimationandnavigationofquadrotoraircraft.Theseincludetheuseofsensorssuchasinertialmeasurementunits(IMUs),globalpositioningsystem(GPS),andvision-basedapproaches.Vision-basedmethodshavethepotentialtoprovideaccurateandrobustposeestimationinconfinedspaces. 3.ChallengesinConfinedSpaces Confinedspacesposeseveralchallengesforquadrotornavigation,includinglimitedvisualfeatures,occlusions,dynamicenvironments,andlackofabsolutepositioningreferences.Thesechallengesmakeitdifficulttoestimatethequadrotor'sposeaccuratelyandreliably. 4.MonocularVision-basedPoseEstimation Monocularvisionreferstotheuseofasinglecameraforposeestimation.Weproposeanovelapproachthatleveragesbothfeature-basedanddirectmethodsforposeestimation.Feature-basedmethodsuseextractedvisualfeatures,suchascorners,edges,orkeypoints,toestimatethepose.Directmethods,ontheotherhand,estimatetheposedirectlyfromthepixelintensityinformation. 5.PoseEstimationAlgorithms Wepresentacomprehensiveoverviewofexistingposeestimationalgorithmsandtechniques,includingvisualodometry,simultaneouslocalizatio