Aircraft Carrier Pose Tracking Based on Adaptive Region in Visual Landing

Abstract

Due to its structural simplicity and its strong anti-electromagnetic ability, landing guidance based on airborne monocular vision has gained more and more attention. Monocular 6D pose tracking of the aircraft carrier is one of the key technologies in visual landing guidance. However, owing to the large range span in the process of carrier landing, the scale of the carrier target in the image variates greatly. There is still a lack of robust monocular pose tracking methods suitable for this scenario. To tackle this problem, a new aircraft carrier pose tracking algorithm based on scale-adaptive local region is proposed in this paper. Firstly, the projected contour of the carrier target is uniformly sampled to establish local circular regions. Then, the local area radius is adjusted according to the pixel scale of the projected contour to build the optimal segmentation energy function. Finally, the 6D pose tracking of the carrier target is realized by iterative optimization. Experimental results on both synthetic and real image sequences show that the proposed method achieves robust and efficient 6D pose tracking of the carrier target under the condition of large distance span, which meets the application requirements of carrier landing guidance.