Visual Image Processing and Image Stitching Method for Flapping-wing Flying Robot Based on Clustering Analysis
To solve the problems of visual image autonomous recognition and wide-field navigation planning in the real-time control process of flapping-wing flying robots and realize the wide-field planning navigation control of these robots based on vision,we propose a visual image processing method and edge detection method for flapping-wing flying robots based on clustering analysis and an image mosaic method based on block matching to construct a vision perception framework of flapping-wing flying robots based on teleoperation.The visual image data of flapping-wing flying robots are classified using clustering analysis,and image edge detection is performed on the robot image after clustering analysis processing using a typical edge detection algorithm.The contour fea-tures of the visual object and the environmental edge features of the flapping-wing flying robot are reasonably extracted.Block matching is performed for image registration of the flapping-wing flying robot vision image data,and an image fusion algorithm is used to improve image clarity.A flap-ping-wing flying robot experimental platform is constructed with a flapping-wing flying robot and a visual camera.The flight robot vision image processing method and image mosaic method based on clustering analysis are experimentally verified.A series of experimental results verify the effective-ness of the proposed algorithm.
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