摘要
空中加油是提高无人机(UAV)空中持续作战能力的重要技术,其中对加油锥套的检测和识别是实现空中加油的首要任务。针对空中加油快速、准确的目标检测难题,结合鹰眼敏锐的视觉机制,设计了一种仿鹰眼-中脑机制的显著性检测算法,采用仿鹰眼颜色拮抗和明暗适应机制模型从加油锥套视频序列中提取多通道图像特征,为适应锥套在图像中的面积,模拟仿鹰中脑网络门控机制对多通道特征显著图进行空间门控处理,模拟仿鹰中脑网络增益机制对显著图进行增强处理。通过公开数据集和空中加油试飞数据集分别进行了测试,仿真对比实验结果验证了所提出的显著性检测算法可在设定显著目标面积占比的条件下有效抑制背景影响,并能检测到空中加油的锥套目标。
Aerial refueling is an important technology to improve the air endurance of Unmanned Aerial Vehicles(UAVs),and detection and identification of the refueling cone sleeve are the primary tasks to achieve aerial refueling.In order to meet the needs of fast and accurate target detection for aerial refueling,based on the keen vision mechanism of the eagle eye,a saliency detection algorithm imitating the eagle eye vision is designed.According to the characteristics of aerial refueling targets and scenes,the eagle-eye color antagonism and light-dark adaptation mechanism model is used to extract multi-channel image features from the primary image.The channel feature saliency map is subjected to spatial gating processing.On this basis,in furtherance of the salient target,the saliency map is enhanced by using the eagle-eye vision midbrain network gain model to obtain the final saliency map.According to the characteristics of aerial refueling targets and scenes,the eagle-eye color antagonism and light-dark adaptation mechanism model extract multi-channel image features from the primary image.The channel feature saliency map is subjected to spatial gating processing.To further enhance the salient target,the saliency map is enhanced by using the eagle-eye vision mid-brain network gain model to obtain the final saliency map.The algorithm is tested through the public data set and the aerial refueling simulation data set,and is then compared with other algorithms.The experimental results show that the saliency detection algorithm proposed in this paper can suppress the background influence by setting the proportion of the salient target area,highlight the salient target,and extract the aerial refueling drogue or the salient target whose size is similar.
作者
武桐言
霍梦真
段海滨
邓亦敏
WU Tongyan;HUO Mengzhen;DUAN Haibin;DENG Yimin(Bio-inspired Autonomous Flight Systems(BAFS)Research Group,School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)
出处
《航空学报》
EI
CAS
CSCD
北大核心
2023年第20期161-172,共12页
Acta Aeronautica et Astronautica Sinica
基金
科技创新2030-“新一代人工智能”重大项目(2018AAA0102403)
国家自然科学基金(U20B2071,T2121003,91948204,U1913602)。
关键词
空中加油
鹰眼视觉
颜色拮抗
中脑网络
显著性检测
无人机
aerial refueling
eagle-eye vision
color opponency
midbrain network
saliency detection
UAV Received:
作者简介
通信作者:段海滨,E-mail:hbduan@buaa.edu.cn。
