Three-dimensional visual measurement for MAV aerodynamic shape based on stroboscopic imaging technique

摘要

The morphological change is an important factor to impact Micro Air Vehicle flight performance. The research on MAV shape detection and tracking has become a focus of attention in the field of civilian and military. Although current researches have got massive experiment results and analysis,they mainly use high-speed photography equipment to record object movement. This paper introduces a new three-dimensional visual measuring technique for MAV morphological changes, which is based on stroboscopic imaging detection technique. By using this technique, we can obtain continuous image data of MAV shape during movement under the conditions that without high-speed image equipment. In the experiment, Scale Invariant Feature Transform (SIFT) features that describe surface texture information are extracted, and then through match the same points as extracted SIFT features at different locations in stroboscopic image are searched. In order to improve the accuracy of tracking, RANSAC algorithm is applied to eliminate incorrect pairs. As a result, corresponding relationship among extracted points at different locations in one picture is established and the morphological change value and motion trace of MAV shape during movement could be calculated. The whole experiment framework is based on binocular vision measurement principle to get sufficient visibility and enough accuracy for tracking.