目录 ContentsChapter 1Introduction1.1Motivation1.2Related research1.2.1Video stabilization1.2.2Target detection, recognition and localization1.2.3Fixedheight control and obstacle avoidance1.2.4Visual perception system of FWAVs1.3Outline of the bookChapter 2Video Stabilization for FWAVs Based on Pantilt and ElectronicImage Stabilization2.1Problem formulation2.2Lightweight twoaxis pantilt2.3Electronic image stabilization2.3.1Motion estimation2.3.2Motion filtering2.3.3Image compensation2.4Experimental results2.4.1Prototype2.4.2Flight experiments2.5SummaryChapter 3Biological Eagleeyebased Target Detection and Recognition3.1Problem formulation3.2Biological eagleeye visual imaging device3.2.1Mechanical structure design3.2.2Image acquisition module3.2.3Control module3.3Algorithm for target detection3.3.1Visual attention mechanism3.3.2Cooperative control for long and short focus cameras3.3.3Lateral inhibition mechanism3.3.4Target detection and recognition3.4Experimental results3.4.1Target searching of the shortfocus camera3.4.2Target capture of the longfocus camera3.4.3Edge extraction3.4.4Target detection and recognition3.5SummaryChapter 4Onboard Monocularvisionbased Target Localization forFWAVs4.1Preliminaries4.1.1Coordinate systems4.1.2Generic camera model4.1.3Problem formulation4.2Target localization method4.3Experimental results4.3.1Simulation experiments4.3.2Real experiments4.4Appendix: simulation program4.5SummaryChapter 5Indoor Fixedheight Control for FWAVs Based on OffboardMonocular Vision5.1Problem formulation5.2Problem solution5.2.1Flappingwing aerial vehicle5.2.2Image detection5.2.3Kalman filter5.2.4Closedloop control system5.3Experimental results5.3.1Experimental platform5.3.2Comparative experiments5.4SummaryChapter 6Autonomous Obstacle Avoidance for FWAVs Based on OnboardMonocular Vision6.1Problem formulation6.2Algorithm for obstacle avoidance6.2.1Optical flow6.2.2Fuzzy control6.3Hardware preparation6.3.1FWAV platform6.3.2Flight control module6.4Experimental results6.4.1Control system test6.4.2Real experiments6.5SummaryChapter 7Autonomous Obstacle Avoidance for FWAVs Based on OnboardStereo Vision7.1Problem formulation7.2Embedded target detection algorithm7.2.1Dataset preparation7.2.2Improved mobileNet target detection algorithm7.3Improvement of binocular distance measurement accuracy7.3.1Principle of binocular distance measurement7.3.2Improving methods7.4Experimental results7.4.1Control strategy7.4.2Experimental platform7.4.3Real experiments7.5SummaryReferences
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