VISUAL PERCEPTION OF FLAPPING-WING AERIAL VEHICLE

Chapter 1 Introduction 1.1 Motivation 1.2 Related research 1.2.1 Video stabilization 1.2.2 Target detection, recognition and localization 1.2.3 Fixed-height control and obstacle avoidance 1.2.4 Visual perception system of FWAVs 1.3 Outline of the book Chapter 2 Video Stabilization for FWAVs Based on Pan-tilt and Electronic Image Stabilization 2.1 Problem formulation 2.2 Lightweight two-axis pan-tilt 2.3 Electronic image stabilization 2.3.1 Motion estimation 2.3.2 Motion filtering 2.3.3 Image compensation 2.4 Experimental results 2.4.1 Prototype 2.4.2 Flight experiments 2.5 Summary Chapter 3 Biological Eagle-eye-based Target Detection and Recognition 3.1 Problem formulation 3.2 Biological eagle-eye visual imaging device 3.2.1 Mechanical structure design 3.2.2 Image acquisition module 3.2.3 Control module 3.3 Algorithm for target detection 3.3.1 Visual attention mechanism 3.3.2 Cooperative control for long and short focus cameras 3.3.3 Lateral inhibition mechanism 3.3.4 Target detection and recognition 3.4 Experimental results 3.4.1 Target searching of the short-focus camera 3.4.2 Target capture of the long-focus camera 3.4.3 Edge extraction 3.4.4 Target detection and recognition 3.5 Summary Chapter 4 On-board Monocular-vision-based Target Localization for FWAVS 4.1 Preliminaries 4.1.1 Coordinate systems 4.1.2 Generic camera model 4.1.3 Problem formulation 4.2 Target localization method 4.3 Experimental results 4.3.1 Simulation experiments 4.3.2 Real experiments 4.4 Appendix: simulation program 4.5 Summary Chapter 5 Indoor Fixed-height Control for FWAVs Based on Off-board Monocular Vision 5.1 Problem formulation 5.2 Problem solution 5.2.1 Flapping-wing aerial vehicle 5.2.2 Image detection 5.2.3 Kalman filter 5.2.4 Closed-loop control system 5.3 Experimental results 5.3.1 Experimental platform 5.3.2 Comparative experiments 5.4 Summary Chapter 6 Autonomous Obstacle Avoidance for FWAVs Based on On-board Monocular Vision 6.1 Problem formulation 6.2 Algorithm for obstacle avoidance 6.2.1 Optical flow 6.2.2 Fuzzy control 6.3 Hardware preparation 6.3.1 FWAV platform 6.3.2 Flight control module 6.4 Experimental results 6.4.1 Control system test 6.4.2 Real experiments 6.5 Summary Chapter 7 Autonomous Obstacle Avoidance for FWAVs Based on On-board Stereo Vision 7.1 Problem formulation 7.2 Embedded target detection algorithm 7.2.1 Dataset preparation 7.2.2 Improved mobileNet target detection algorithm 7.3 Improvement of binocular distance measurement accuracy 7.3.1 Principle of binocular distance measurement 7.3.2 Improving methods 7.4 Experimental results 7.4.1 Control strategy 7.4.2 Experimental platform 7.4.3 Real experiments 7.5 Summary References