Method of horizon and edges of runway detection

ZHUANG Li-kui1; DING Meng2; CAO Yun-feng1; FENG Ying2

doi:10.13873/j.1000-97872009.12.014

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Method of horizon and edges of runway detection

更新时间：2025-09-11

- Method of horizon and edges of runway detection
- Vol. 28, Issue 12, Pages: 93-95+99(2009)
- 作者机构：
  
  1. 南京航空航天大学高新技术研究院
  2. 南京航空航天大学自动化学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.12.014
  CLC： TP391.41
- Published：2009
- 稿件说明：
移动端阅览
[1]庄丽葵,丁萌,曹云峰,冯英.一种地平线与跑道边缘线检测方法[J].传感器与微系统,2009,28(12):93-95+99.

ZHUANG Li-kui1, DING Meng2, CAO Yun-feng1, et al. Method of horizon and edges of runway detection[J]. 2009, 28(12): 93-95+99.
[1]庄丽葵,丁萌,曹云峰,冯英.一种地平线与跑道边缘线检测方法[J].传感器与微系统,2009,28(12):93-95+99. DOI： 10.13873/j.1000-97872009.12.014.

ZHUANG Li-kui1, DING Meng2, CAO Yun-feng1, et al. Method of horizon and edges of runway detection[J]. 2009, 28(12): 93-95+99. DOI： 10.13873/j.1000-97872009.12.014.

摘要

在基于计算机视觉的无人机着陆系统中

利用地平线和跑道边缘线方程解算着陆参数是一种可行的方法。利用计算机视觉和图像处理技术研究了一种地平线和跑道边缘线提取方法

利用Canny算子对原始图像进行预处理

获取图像的边缘信息。提出了一种新的直线检测方法

并利用检测出的直线和图像像素坐标系横坐标的夹角确定地平线和跑道左、右边缘线。实验研究表明:该方法可以在不同的高度、不同亮度图像中有效地检测出地平线和跑道边缘线。

Abstract

For computer vision-based landing of unmanned aerial vehicle（UAV）

it is possible to obtain landing parameters by equations of horizon and edges of runway.A method of horizon and edges of runway detection by using computer vision and image processing technology is studied.Original image are processed by Canny operator to obtain edge information.A new method of line detection is presented

and the horizon and edges of runway is determined by angle between detected line and horizontal axis of image pixel coordinate system.Experimental research shows that this method can detect horizon and edges of runway effectively at different heights and different illumination condition in landing of UAV.

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references

数字图像处理[M]. 东南大学出版社 , 夏良正主编, 1999

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Related Institution

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