关键词: 无人直升机, 地标识别, 姿态估计, 自主降落, 轮廓拟合

Abstract: To acquire landmark's information and calculate unmanned helicopter's attitude information, a landmark recognition method based on image's contour fitting was proposed in this paper. The method judged the landmark's situation through imposing geometric constraint. If the image contained full landmark, real-time calculation of corners could obtain the helicopter's attitude information; if the image contained part of the landmark, the method could estimate the direction and size of the helicopter's movement which would make the landmark presented in the view completely. The simulations under the condition of laboratory show that the proposed method is stable and feasible.

Key words: unmanned helicopter, landmark recognition, pose estimation, autonomous landing, contour fitting