The Localization System Of Indoor Airship Based On Computer Vision

This paper is based on the abnormity shape airship project of China science and technology museum. The research object of the tracking and localization system is the indoor unmanned airship. Considering the indoor environment of the application of airship, a single camera positioning technology is used in the positioning of China science and technology museum, and its effectiveness is verified by the experiment.Firstly, this paper has summarized the research background, significance and research status in vision localization and correlation technology of the indoor airship. Then this paper has analyzed the research method involved detection and tracking in the localization of airship. Secondly, this paper studied the airship tracking and proposed a tracking algorithm based on prediction. At last the localization system has designed and turned out to be effective through verification.In the aspect of indoor airship tracking, this paper proposes a kind of improved CamShift tracking method which combines the wavelet transform. Firstly the precision localization of the target is realized by wavelet which has the characteristics of multi-resolution analysis and time-frequency local window analysis. Then the coordinate of centroid is calculated based on the detected initial frames, and the result is regarded as the initial position of the improved CamShift algorithm. And then the Kalman filter algorithm is combined with CamShift in order to adjust the centroid position of moving target. The algorithm can effectively overcome interference of the background color, and reliable target tracking in indoor situation is realized. That has laid the foundation for localization.Only realized the reliable and real-time tracking can airship be positioned to the next step. In the aspect of indoor airship localization, it needed to set the geometric constraint of the characteristic points between the images and the actual object, and set up the mathematical equations, in order to get the closed solution of object in the camera coordinate system, then the three-dimensional position of the airship in the world coordinates system was obtained by solving the equation.This paper has verified the rationality of the indoor airship localization system through practical experiment,and the location problem of the science and technology museum indoor airship autonomous navigation is solved. Experiment has been showed that this method is simple and practicable, and can be used in engineering application.