本书研究扑翼飞行器的视觉感知与控制，属于机器人、机器视觉和人工智能等多领域的前沿交叉研究。本文共7章。第1章是绪论，介绍本书的写作背景和基本情况。第2章针对扑翼飞行器肮拍视频抖动问题，提出了一种基于机械云台和电子稳像的视频稳像方法。第3章针对扑冀飞行器图像目标检测与识别问题，提出了一种基于长短焦的仿鹰眼视觉解决方案。第4章针对扑翼飞行器目标定位问题，提出了一种基于机载单目视觉的地面目标定位方法。第5章研究基于外部单目视觉的扑翼飞行器室内定高控制问题。第6章研究基于机载单目视觉的扑翼飞行器自主避障问题。第7章研究基于机载双目视觉的扑翼飞行器自主避障问题。

Chapter 1 Introduction
1.1 Motivation
1.2 Related research
1.2.1 Video stabilization
1.2.2 Target detection, recognition and localization
1.2.3 Fixed-height control and obstacle avoidance
1.2.4 Visual perception system of FWAVs
1.3 Outline of the book
Chapter 2 Video Stabilization for FWAVs Based on Pan-tilt and Electronic Image Stabilization
2.1 Problem formulation
2.2 Lightweight two-axis pan-tilt
2.3 Electronic image stabilization
2.3.1 Motion estimation
2.3.2 Motion filtering
2.3.3 Image compensation
2.4 Experimental results
2.4.1 Prototype
2.4.2 Flight experiments
2.5 Summary
Chapter 3 Biological Eagle-eye-based Target Detection and Recognition
3.1 Problem formulation
3.2 Biological eagle-eye visual imaging device
3.2.1 Mechanical structure design
3.2.2 Image acquisition module
3.2.3 Control module
3.3 Algorithm for target detection
3.3.1 Visual attention mechanism
3.3.2 Cooperative control for long and short focus cameras
3.3.3 Lateral inhibition mechanism
3.3.4 Target detection and recognition
3.4 Experimental results
3.4.1 Target searching of the short-focus camera
3.4.2 Target capture of the long-focus camera
3.4.3 Edge extraction
3.4.4 Target detection and recognition
3.5 Summary
Chapter 4 On-board Monocular-vision-based Target Localization for FWAVS
4.1 Preliminaries
4.1.1 Coordinate systems
4.1.2 Generic camera model
4.1.3 Problem formulation
4.2 Target localization method
4.3 Experimental results
4.3.1 Simulation experiments
4.3.2 Real experiments
4.4 Appendix: simulation program
4.5 Summary
Chapter 5 Indoor Fixed-height Control for FWAVs Based on Off-board Monocular Vision
5.1 Problem formulation
5.2 Problem solution
5.2.1 Flapping-wing aerial vehicle
5.2.2 Image detection
5.2.3 Kalman filter
5.2.4 Closed-loop control system
5.3 Experimental results
5.3.1 Experimental platform
5.3.2 Comparative experiments
5.4 Summary
Chapter 6 Autonomous Obstacle Avoidance for FWAVs Based on On-board Monocular Vision
6.1 Problem formulation
6.2 Algorithm for obstacle avoidance
6.2.1 Optical flow
6.2.2 Fuzzy control
6.3 Hardware preparation
6.3.1 FWAV platform
6.3.2 Flight control module
6.4 Experimental results
6.4.1 Control system test
6.4.2 Real experiments
6.5 Summary
Chapter 7 Autonomous Obstacle Avoidance for FWAVs Based on On-board Stereo Vision
7.1 Problem formulation
7.2 Embedded target detection algorithm
7.2.1 Dataset preparation
7.2.2 Improved mobileNet target detection algorithm
7.3 Improvement of binocular distance measurement accuracy
7.3.1 Principle of binocular distance measurement
7.3.2 Improving methods
7.4 Experimental results
7.4.1 Control strategy
7.4.2 Experimental platform
7.4.3 Real experiments
7.5 Summary
References