Binocular Pose Estimation for UAV Autonomous Aerial Refueling via Brain Storm Optimization

Zhang, Cong1; Xu, Xiaobin1; Shi, Yuhui2; Deng, Yimin1; Li, Cong1; Duan, Haibin3

10.1109/CEC.2019.8789952

2019

978-1-7281-2154-3

2019 IEEE Congress on Evolutionary Computation, CEC 2019

254-261

10-13 June 2019

Wellington, New zealand

345 E 47TH ST, NEW YORK, NY 10017 USA

Institute of Electrical and Electronics Engineers Inc.

Autonomous aerial refueling (AAR) is a crucial technique of unmanned aerial vehicles (UAVs) to push the fuel limits and play a great role in both civilian and military domains. This paper presents an accurate and robust binocular pose estimation algorithms optimized by brain storm optimization (BSO), which is developed from a robust non-iterative solution of PnP (RPnP). In this algorithm, BSO is employed to select the best rotation axis in RPnP. A large quantity of contrastive simulation experiments has been conducted to verify the proposed algorithm. Furthermore, this work built an aerial verification platform for vision-based AAR. A tanker UAV and a receiver UAV were applied to implement AAR. The real-time visual measuring system includes feature extraction and pose estimation. Several state-of-the-art pose estimation algorithms and the proposed method (which refers to BSO-BPnP) have been tested in the aerial verification platform. Adequate comparative trials and detailed analyses are given in this paper.
© 2019 IEEE.

autonomous aerial refueling (AAR) unmanned aerial vehicles (UAVs) pose estimation brain storm optimization (BSO) binocular camera system

其他

英语

EI ; CPCI-S

National Natural Science Foundation of China[61803011]

Engineering ; Mathematical & Computational Biology

Engineering, Electrical & Electronic ; Mathematical & Computational Biology

WOS:000502087100035

20193507373902

Air refueling ; Automatic indexing ; Binoculars ; Evolutionary algorithms ; Iterative methods ; Military vehicles ; Storms ; Unmanned aerial vehicles (UAV)

Military Engineering:404.1 ; Precipitation:443.3 ; Aircraft, General:652.1 ; Computer Applications:723.5 ; Optical Devices and Systems:741.3 ; Numerical Methods:921.6

EV Compendex

1.School of Automation Science and Electrical Engineering, Beihang University(BUAA), Beijing, China
2.Department of Computer Science and Engineering, Southern University of Science and Technology, Shenzhen, China
3.Beihang University(BUAA), Beijing, China

Zhang, Cong,Xu, Xiaobin,Shi, Yuhui,et al. Binocular Pose Estimation for UAV Autonomous Aerial Refueling via Brain Storm Optimization[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:Institute of Electrical and Electronics Engineers Inc.,2019:254-261.