VPFEVideo Processing Front End
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The red marker is the vanishing point obtained from the above VPFE algorithm, and the corresponding image in the indoor environment collected by the front camera of the quad-rotor helicopter is shown as Figure 8.
In order to test the performance of the VPFE algorithm, we test the flight of the quad-rotor helicopter in the indoor environment as Figure 3(a) shows.
After the implementation of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by RHT, the system finally obtains the position of vanishing point through the proposed VPFE algorithm and effectively operates the autonomous navigation of the quad-rotor helicopter by continuous calculation about the navigation error.