开题报告提纲

无人机自主导航及降落，

三种情况（Landing phase）
1. GPS available. （空旷的地方）
Multi-Sensor Fusion, Sensor Self-Calibration, Visual-Inertial Navigation.
2. GPS not available.（室内，建筑密集区。 这样的地方的特点是人造的场景多，纹理十分规则明显。可以使用其中的结构特点恢复结构。)
- Camera pose estimation.
- visual odometer.
3. 合作目标可见的场景。
- runway detection.
- Image registration(runway image match)
- (color )marker (UAV Attitude and Position Estimation by $n$ salient points detection and tracking it to estimate the location and orientation UAV).
- Ground Control Station aided.(two cameras capture image of the UAV, then get matched point to estimate the location of UAV and landing).
- land marker tracking.

相机姿态的测量

现有方法：
1. 使用已知形状的平面目标，已知内参数，PnP。
缺陷是这种方法仅适用于规则目标，无法适用于自然场景。
2. horizontal line(varnishing line)
For images where you see lines corresponding to 3 orthogonal directions you
can compute the camera matrix K as well as rotation matrix R.
- Detect lines in an image.
- Find all intersections of lines.
- Vote for each intersection
- Solve: vp,vp2,vp3=argmaxortho(p,q,r)(