Research On Scene Matching Method For Cruise Guidance

Scene matching for cruise guidance is a part of the UAV(Unmanned Aerial Vehicle) vision measurement,and the environment of measurement is more complex than common robot vision measurement on the ground. In this paper, the following researching about scene matching for cruise guidance is done.Firstly,the model of scene matching for cruise guidance is built, analyzed and applicated in this paper. Combining the ground robot vision measurement theory and the feature of automatic cruise aircraft environment, a model of automatic aircraft vision measurement is built for scene matching vision measurement in cruise guidance. In this paper scene matching is defined by three 2D coordinate spaces, and the properties of three 2D coordinate spaces are analyzed. Combining the mathematic model, the source and style of the error for scene matching is analyzed; the'two points method'is given out for the initial adjustment of scene matching; a method of modify the scene matching result to guidance flat center is proposed。Secondly, scene matching method based on the pixels is built. The similarity measures based on the distance are proposed, and compared with the Nprod (Normalized Product correlation) measure. Simulation experiments show that this type of similarity measures is more robust than Nprod measure on the changes on scale, rotate and light.Thirdly, we investigate scene matching method based on imitation of biological vision, mainly about the usability research of CBCL(Center for Biological & Computational Learning) model in scene matching. A method based on Gobar filter, maximum and simi-larity measure is given out, and analyzing it in the scene matching experiment. Using the relationship between theσparameter of Gabor filter and the size of the image, the para-meters of Gabor filters in CBCL model is calculated. In scene matching, mass labor of cal-culation for this model is spent, and benchmark image is difficult to build. Base the CBCL model, the error of image matching is suppressed by a scene matching method based on the feature set of templates.Finally, a scene matching simulation method is designed in this paper, some matching algorithms in this paper are experimented, and the analysis of experiment is given out.