CN103686084A - Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles - Google Patents
Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles Download PDFInfo
- Publication number
- CN103686084A CN103686084A CN201310663351.6A CN201310663351A CN103686084A CN 103686084 A CN103686084 A CN 103686084A CN 201310663351 A CN201310663351 A CN 201310663351A CN 103686084 A CN103686084 A CN 103686084A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- reconnaissance
- data
- looking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000009877 rendering Methods 0.000 claims abstract description 30
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 241001061260 Emmelichthys struhsakeri Species 0.000 claims description 3
- 239000012634 fragment Substances 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000004927 fusion Effects 0.000 abstract description 2
Landscapes
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses a panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles. The method includes the specific step that a panoramic video monitoring system used for cooperative real-time reconnaissance of the multiple unmanned aerial vehicles is established. The system comprises a data acquisition module, a data receiving module, a data processing module and a three-dimensional render engine module, the data acquisition module is used for acquiring downward-looking reconnaissance images of the military unmanned aerial vehicles, the data receiving module is used for receiving and analyzing reconnaissance data in a concentrated mode, the data processing module is used for processing video image date and updating three-dimensional virtual scene factors, and the three-dimensional render engine module is used for achieving rendering and roaming of a virtual three-dimensional scene. Image fusion and image rendering under the condition of cooperative reconnaissance of the multiple unmanned aerial vehicles are achieved with the method, and the multiple unmanned aerial vehicles can be fast switched and traced.
Description
Technical Field
The invention relates to a, in particular to a method. The invention relates to a panoramic video monitoring method, in particular to a panoramic video monitoring method for multi-unmanned aerial vehicle cooperative real-time reconnaissance.
Background
In the application field of military unmanned aerial vehicles, video images are the most important, maximum and information-rich information source information formats. The traditional video monitoring method generally adopts a two-dimensional video wall display mode to display two-dimensional video images acquired by the unmanned aerial vehicle in real time, when the number of the unmanned aerial vehicles is large and the number of transmitted video channels is large, the traditional video monitoring method has the problems of insufficient integrity, low coverage rate, overlarge information amount and the like in monitoring and supervision, so that the fighter cannot clearly determine the geographical position information of the specific unmanned aerial vehicle, the disorientation phenomenon is caused, and the quick response to the reconnaissance event can not be made from a limited monitoring window.
Disclosure of Invention
The invention aims to provide a panoramic video monitoring method for multi-unmanned aerial vehicle collaborative real-time reconnaissance, and solves the problems that the geographical position information of a particular unmanned aerial vehicle is unclear and the direction sense is lost by a fighter when the multi-unmanned aerial vehicle collaborative real-time reconnaissance occurs.
A panoramic video monitoring method for multi-unmanned aerial vehicle collaborative real-time reconnaissance comprises the following specific steps:
first step, constructing panoramic video monitoring system for cooperative real-time reconnaissance of multiple unmanned aerial vehicles
A panorama video monitoring for many unmanned aerial vehicle reconcile real-time reconnaissance includes: the system comprises a data acquisition module, a data receiving module, a data processing module and a three-dimensional rendering engine module. Wherein,
the data acquisition module has the functions of: the method comprises the steps of collecting an unmanned military aerial vehicle downward-looking reconnaissance image, and packaging and sending the unmanned aerial vehicle downward-looking reconnaissance image and the unmanned aerial vehicle geographic information.
The data receiving module has the functions of: and analyzing the unmanned aerial vehicle downward-looking reconnaissance image and the geographic information data packet, separating the unmanned aerial vehicle downward-looking reconnaissance image from the geographic information, and converting the data format of the unmanned aerial vehicle downward-looking reconnaissance image into an RGB format.
The data processing module has the functions of: and pre-correcting the downward-looking reconnaissance image of the unmanned aerial vehicle, fusing the image with the overlapped area, and updating the position and the posture of the virtual unmanned aerial vehicle in the three-dimensional virtual environment and the outer frame of the viewing cone of the virtual camera.
The three-dimensional rendering engine module has the functions of: and rendering the fused unmanned aerial vehicle downward-looking reconnaissance image, the unmanned aerial vehicle and the virtual camera view cone outer frame into a three-dimensional scene, so that scene roaming of an unmanned aerial vehicle reconnaissance area is realized, and rapid switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle are realized.
Second step data acquisition module gathers military unmanned aerial vehicle down-looking reconnaissance image
The data acquisition module acquires downward-looking scout image data of a scout area, acquires position and posture geographic information of the unmanned aerial vehicle, packages the downward-looking scout image data and the position and posture geographic information into a TCP/IP data packet, wirelessly transmits the packaged data to wireless data receiving stations distributed in each area through a wireless transmitting device, and the wireless data receiving stations serve as intermediaries to transmit the data through a wired network.
Thirdly, the data receiving module receives and analyzes the scout data in a centralized way
The data receiving module carries out centralized analysis on the unmanned aerial vehicle downward-looking reconnaissance images and the geographic information data packets acquired by the cooperative reconnaissance of the multiple unmanned aerial vehicles at the front end, separates the unmanned aerial vehicle downward-looking reconnaissance image data and the position and posture geographic information data, converts the format of the unmanned aerial vehicle downward-looking reconnaissance image data into an RGB format through the video server, and transmits the RGB format together with the position and posture geographic information of the unmanned aerial vehicle through a wired IP network.
The fourth step is that the data processing module processes the video image data and updates the three-dimensional virtual scene element
The data processing module processes the unmanned aerial vehicle downward-looking reconnaissance image data acquired by each unmanned aerial vehicle in a thread mode. Firstly, pre-correcting acquired downward-looking reconnaissance image data of the unmanned aerial vehicle in a camera calibration mode to obtain corrected video image data, combining position and attitude geographic information data of the unmanned aerial vehicle, fusing the video image data of a multi-unmanned aerial vehicle overlapping region based on feature point matching to obtain an Alpha image and a converted video image, wherein the Alpha image is formed by fusing weight factors of pixels of an image transformation matrix and the downward-looking reconnaissance image; and then updating the position and attitude variable of the unmanned aerial vehicle in the three-dimensional virtual scene by using the position and attitude geographic information of the unmanned aerial vehicle, and updating the position and attitude variable of the virtual camera view cone outer frame by combining the image transformation matrix.
The fifth step is that the three-dimensional rendering engine module realizes the rendering and roaming of the virtual three-dimensional scene
The three-dimensional rendering engine module fuses the unmanned aerial vehicle downward-looking reconnaissance image data through a vertex shader and a fragment shader to obtain a fused unmanned aerial vehicle downward-looking reconnaissance image, the fused unmanned aerial vehicle downward-looking reconnaissance image is rendered into a virtual three-dimensional scene environment through an OpenSceneGraph three-dimensional scene rendering platform together with an unmanned aerial vehicle and a virtual camera view cone outer frame in a three-dimensional virtual scene updated by geographic information of the unmanned aerial vehicle, three-dimensional scene roaming is achieved through a three-dimensional scene rover of the OpenSceneGraph three-dimensional scene rendering platform, and rapid switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle are achieved through a graphical user interface developed based on an OpenSceneGraph three-dimensional scene rendering platform interface.
Therefore, panoramic video monitoring for cooperative real-time reconnaissance of multiple unmanned aerial vehicles is achieved.
The invention realizes the image fusion and rendering under the application of the cooperative reconnaissance of multiple unmanned aerial vehicles and the rapid switching and tracking of the unmanned aerial vehicles.
Detailed Description
A panoramic video monitoring method for multi-unmanned aerial vehicle collaborative real-time reconnaissance comprises the following specific steps:
first step, constructing panoramic video monitoring system for cooperative real-time reconnaissance of multiple unmanned aerial vehicles
A panorama video monitoring for many unmanned aerial vehicle reconcile real-time reconnaissance includes: the system comprises a data acquisition module, a data receiving module, a data processing module and a three-dimensional rendering engine module. Wherein,
the data acquisition module has the functions of: the method comprises the steps of collecting an unmanned military aerial vehicle downward-looking reconnaissance image, and packaging and sending the unmanned aerial vehicle downward-looking reconnaissance image and the unmanned aerial vehicle geographic information.
The data receiving module has the functions of: and analyzing the unmanned aerial vehicle downward-looking reconnaissance image and the geographic information data packet, separating the unmanned aerial vehicle downward-looking reconnaissance image from the geographic information, and converting the data format of the unmanned aerial vehicle downward-looking reconnaissance image into an RGB format.
The data processing module has the functions of: and pre-correcting the downward-looking reconnaissance image of the unmanned aerial vehicle, fusing the image with the overlapped area, and updating the position and the posture of the virtual unmanned aerial vehicle in the three-dimensional virtual environment and the outer frame of the viewing cone of the virtual camera.
The three-dimensional rendering engine module has the functions of: and rendering the fused unmanned aerial vehicle downward-looking reconnaissance image, the unmanned aerial vehicle and the virtual camera view cone outer frame into a three-dimensional scene, so that scene roaming of an unmanned aerial vehicle reconnaissance area is realized, and rapid switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle are realized.
Second step data acquisition module gathers military unmanned aerial vehicle down-looking reconnaissance image
The data acquisition module acquires downward-looking scout image data of a scout area, acquires position and posture geographic information of the unmanned aerial vehicle, packages the downward-looking scout image data and the position and posture geographic information into a TCP/IP data packet, wirelessly transmits the packaged data to wireless data receiving stations distributed in each area through a wireless transmitting device, and the wireless data receiving stations serve as intermediaries to transmit the data through a wired network.
Thirdly, the data receiving module receives and analyzes the scout data in a centralized way
The data receiving module carries out centralized analysis on the unmanned aerial vehicle downward-looking reconnaissance images and the geographic information data packets acquired by the cooperative reconnaissance of the multiple unmanned aerial vehicles at the front end, separates the unmanned aerial vehicle downward-looking reconnaissance image data and the position and posture geographic information data, converts the format of the unmanned aerial vehicle downward-looking reconnaissance image data into an RGB format through the video server, and transmits the RGB format together with the position and posture geographic information of the unmanned aerial vehicle through a wired IP network.
The fourth step is that the data processing module processes the video image data and updates the three-dimensional virtual scene element
The data processing module processes the unmanned aerial vehicle downward-looking reconnaissance image data acquired by each unmanned aerial vehicle in a thread mode. Firstly, pre-correcting acquired downward-looking reconnaissance image data of the unmanned aerial vehicle in a camera calibration mode to obtain corrected video image data, combining position and attitude geographic information data of the unmanned aerial vehicle, fusing the video image data of a multi-unmanned aerial vehicle overlapping region based on feature point matching to obtain an Alpha image and a converted video image, wherein the Alpha image is formed by fusing weight factors of pixels of an image transformation matrix and the downward-looking reconnaissance image; and then updating the position and attitude variable of the unmanned aerial vehicle in the three-dimensional virtual scene by using the position and attitude geographic information of the unmanned aerial vehicle, and updating the position and attitude variable of the virtual camera view cone outer frame by combining the image transformation matrix.
The fifth step is that the three-dimensional rendering engine module realizes the rendering and roaming of the virtual three-dimensional scene
The three-dimensional rendering engine module fuses the unmanned aerial vehicle downward-looking reconnaissance image data through a vertex shader and a fragment shader to obtain a fused unmanned aerial vehicle downward-looking reconnaissance image, the fused unmanned aerial vehicle downward-looking reconnaissance image is rendered into a virtual three-dimensional scene environment through an OpenSceneGraph three-dimensional scene rendering platform together with an unmanned aerial vehicle and a virtual camera view cone outer frame in a three-dimensional virtual scene updated by geographic information of the unmanned aerial vehicle, three-dimensional scene roaming is achieved through a three-dimensional scene rover of the OpenSceneGraph three-dimensional scene rendering platform, and rapid switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle are achieved through a graphical user interface developed based on an OpenSceneGraph three-dimensional scene rendering platform interface.
Therefore, panoramic video monitoring for cooperative real-time reconnaissance of multiple unmanned aerial vehicles is achieved.
Claims (1)
1. A panoramic video monitoring method for multi-unmanned aerial vehicle collaborative real-time reconnaissance is characterized by comprising the following specific steps:
first step, constructing panoramic video monitoring system for cooperative real-time reconnaissance of multiple unmanned aerial vehicles
A panorama video monitoring for many unmanned aerial vehicle reconcile real-time reconnaissance includes: the system comprises a data acquisition module, a data receiving module, a data processing module and a three-dimensional rendering engine module; wherein,
the data acquisition module has the functions of: acquiring a downward-looking reconnaissance image of the military unmanned aerial vehicle, and packaging and sending the downward-looking reconnaissance image of the military unmanned aerial vehicle and geographic information of the military unmanned aerial vehicle;
the data receiving module has the functions of: analyzing the unmanned aerial vehicle downward-looking reconnaissance image and the geographic information data packet, separating the unmanned aerial vehicle downward-looking reconnaissance image from the geographic information, and converting the data format of the unmanned aerial vehicle downward-looking reconnaissance image into an RGB format;
the data processing module has the functions of: pre-correcting the downward-looking reconnaissance image of the unmanned aerial vehicle, fusing the images with the overlapped area, and updating the position and the posture of the virtual unmanned aerial vehicle in the three-dimensional virtual environment and the outer frame of a viewing cone of the virtual camera;
the three-dimensional rendering engine module has the functions of: rendering the fused unmanned aerial vehicle downward-looking reconnaissance image, the unmanned aerial vehicle and the virtual camera view cone outer frame into a three-dimensional scene, so as to realize scene roaming of an unmanned aerial vehicle reconnaissance area and fast switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle;
second step data acquisition module gathers military unmanned aerial vehicle down-looking reconnaissance image
The data acquisition module acquires downward-looking scout image data of a scout area, acquires position and posture geographic information of the unmanned aerial vehicle, packages the downward-looking scout image data and the position and posture geographic information into a TCP/IP data packet, and wirelessly transmits the packaged data to wireless data receiving stations distributed in each area through a wireless transmission device, wherein the wireless data receiving stations serve as intermediaries to transmit the data through a wired network;
thirdly, the data receiving module receives and analyzes the scout data in a centralized way
The data receiving module is used for carrying out centralized analysis on unmanned aerial vehicle downward-looking reconnaissance images and geographic information data packets acquired by cooperative reconnaissance of a plurality of unmanned aerial vehicles at the front end, separating out unmanned aerial vehicle downward-looking reconnaissance image data and position and posture geographic information data, converting the format of the unmanned aerial vehicle downward-looking reconnaissance image data into an RGB format through a video server, and transmitting the RGB format together with the unmanned aerial vehicle position and posture geographic information through a wired IP network;
the fourth step is that the data processing module processes the video image data and updates the three-dimensional virtual scene element
The data processing module processes the unmanned aerial vehicle downward-looking reconnaissance image data acquired by each unmanned aerial vehicle in a thread mode; firstly, pre-correcting acquired downward-looking reconnaissance image data of the unmanned aerial vehicle in a camera calibration mode to obtain corrected video image data, combining position and attitude geographic information data of the unmanned aerial vehicle, fusing the video image data of a multi-unmanned aerial vehicle overlapping region based on feature point matching to obtain an Alpha image and a converted video image, wherein the Alpha image is formed by fusing weight factors of pixels of an image transformation matrix and the downward-looking reconnaissance image; then, updating the position and attitude variable of the unmanned aerial vehicle in the three-dimensional virtual scene by using the position and attitude geographic information of the unmanned aerial vehicle, and updating the position and attitude variable of the virtual camera view cone outer frame by combining an image transformation matrix;
the fifth step is that the three-dimensional rendering engine module realizes the rendering and roaming of the virtual three-dimensional scene
The three-dimensional rendering engine module fuses the unmanned aerial vehicle downward-looking reconnaissance image data through a vertex shader and a fragment shader to obtain a fused unmanned aerial vehicle downward-looking reconnaissance image, the fused unmanned aerial vehicle downward-looking reconnaissance image is rendered into a virtual three-dimensional scene environment through an OpenSceneGraph three-dimensional scene rendering platform together with an unmanned aerial vehicle and a virtual camera view cone outer frame in a three-dimensional virtual scene updated by the geographic information of the unmanned aerial vehicle, the three-dimensional scene roaming is realized through a three-dimensional scene rover of the OpenSceneGraph three-dimensional scene rendering platform, and the rapid switching and tracking between a key scene view angle and an unmanned aerial vehicle view angle are realized through a graphical user interface developed based on an OpenSceneGraph three-dimensional scene rendering platform interface;
therefore, panoramic video monitoring for cooperative real-time reconnaissance of multiple unmanned aerial vehicles is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310663351.6A CN103686084A (en) | 2013-12-10 | 2013-12-10 | Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310663351.6A CN103686084A (en) | 2013-12-10 | 2013-12-10 | Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103686084A true CN103686084A (en) | 2014-03-26 |
Family
ID=50322201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310663351.6A Pending CN103686084A (en) | 2013-12-10 | 2013-12-10 | Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103686084A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104902263A (en) * | 2015-05-26 | 2015-09-09 | 深圳市圆周率软件科技有限责任公司 | System and method for showing image information |
| CN104994355A (en) * | 2015-07-14 | 2015-10-21 | 杨珊珊 | Intelligent active image acquisition and update system and method |
| CN105120245A (en) * | 2015-10-08 | 2015-12-02 | 深圳九星智能航空科技有限公司 | UAV (unmanned aerial vehicle) for panoramic surveillance |
| CN105573335A (en) * | 2016-03-18 | 2016-05-11 | 王正作 | Unmanned-plane aerial photography control system |
| CN105744231A (en) * | 2016-03-18 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | Unmanned ship mobile live telecasting method and unmanned ship mobile live telecasting system |
| CN105836126A (en) * | 2016-03-18 | 2016-08-10 | 王正作 | Efficient aerial photography processing system of unmanned planes |
| WO2016169065A1 (en) * | 2015-04-24 | 2016-10-27 | SZ DJI Technology Co., Ltd. | Method, device and system for presenting operation information of a mobile platform |
| CN106657907A (en) * | 2016-12-14 | 2017-05-10 | 天津温茂科技有限公司 | Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method |
| CN106815555A (en) * | 2016-12-21 | 2017-06-09 | 深圳增强现实技术有限公司 | A kind of augmented reality method and system of distributed scene target identification |
| CN107656544A (en) * | 2017-11-10 | 2018-02-02 | 广东工业大学 | A kind of method and system of unmanned aerial vehicle (UAV) control |
| CN107667521A (en) * | 2015-06-25 | 2018-02-06 | 英特尔公司 | Individual's sensing unmanned plane |
| CN108419052A (en) * | 2018-03-28 | 2018-08-17 | 深圳臻迪信息技术有限公司 | A kind of more unmanned plane method for panoramic imaging |
| CN108508916A (en) * | 2018-04-02 | 2018-09-07 | 南方科技大学 | Control method, device and equipment for unmanned aerial vehicle formation and storage medium |
| CN108734655A (en) * | 2017-04-14 | 2018-11-02 | 中国科学院苏州纳米技术与纳米仿生研究所 | The method and system that aerial multinode is investigated in real time |
| CN110312085A (en) * | 2019-06-06 | 2019-10-08 | 武汉易科空间信息技术股份有限公司 | Image interfusion method and system based on multiple unmanned plane technologies |
| CN111208842A (en) * | 2019-12-27 | 2020-05-29 | 西安羚控电子科技有限公司 | Virtual unmanned aerial vehicle and entity unmanned aerial vehicle mixed cluster task control system |
| CN111526328A (en) * | 2020-03-18 | 2020-08-11 | 深圳市华橙数字科技有限公司 | Video monitoring inspection method, device, terminal and storage medium |
| CN112532508A (en) * | 2019-09-18 | 2021-03-19 | 华为技术有限公司 | Video communication method and video communication device |
| CN113747198A (en) * | 2021-06-25 | 2021-12-03 | 航天时代飞鸿技术有限公司 | Unmanned aerial vehicle cluster video picture rendering and post-processing method, medium and device |
| CN114280995A (en) * | 2021-12-27 | 2022-04-05 | 广州信邦智能装备股份有限公司 | Monitoring system for ground combined test bed of unmanned aerial vehicle environment control system |
-
2013
- 2013-12-10 CN CN201310663351.6A patent/CN103686084A/en active Pending
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11175651B2 (en) | 2015-04-24 | 2021-11-16 | SZ DJI Technology Co., Ltd. | Method, device and system for presenting operation information of a mobile platform |
| WO2016169065A1 (en) * | 2015-04-24 | 2016-10-27 | SZ DJI Technology Co., Ltd. | Method, device and system for presenting operation information of a mobile platform |
| CN104902263A (en) * | 2015-05-26 | 2015-09-09 | 深圳市圆周率软件科技有限责任公司 | System and method for showing image information |
| US11076134B2 (en) | 2015-06-25 | 2021-07-27 | Intel Corporation | Personal sensory drones |
| CN107667521A (en) * | 2015-06-25 | 2018-02-06 | 英特尔公司 | Individual's sensing unmanned plane |
| CN107667521B (en) * | 2015-06-25 | 2021-09-21 | 英特尔公司 | Personal sensing unmanned aerial vehicle |
| CN104994355A (en) * | 2015-07-14 | 2015-10-21 | 杨珊珊 | Intelligent active image acquisition and update system and method |
| CN105120245A (en) * | 2015-10-08 | 2015-12-02 | 深圳九星智能航空科技有限公司 | UAV (unmanned aerial vehicle) for panoramic surveillance |
| CN105573335A (en) * | 2016-03-18 | 2016-05-11 | 王正作 | Unmanned-plane aerial photography control system |
| CN105744231A (en) * | 2016-03-18 | 2016-07-06 | 普宙飞行器科技（深圳）有限公司 | Unmanned ship mobile live telecasting method and unmanned ship mobile live telecasting system |
| CN105836126A (en) * | 2016-03-18 | 2016-08-10 | 王正作 | Efficient aerial photography processing system of unmanned planes |
| CN106657907A (en) * | 2016-12-14 | 2017-05-10 | 天津温茂科技有限公司 | Electronic information field multi-UAV (Unmanned Aerial Vehicle) cooperative tracking photographing system and photographing method |
| CN106815555A (en) * | 2016-12-21 | 2017-06-09 | 深圳增强现实技术有限公司 | A kind of augmented reality method and system of distributed scene target identification |
| CN106815555B (en) * | 2016-12-21 | 2020-02-14 | 深圳增强现实技术有限公司 | Augmented reality method and system for distributed scene target recognition |
| CN108734655A (en) * | 2017-04-14 | 2018-11-02 | 中国科学院苏州纳米技术与纳米仿生研究所 | The method and system that aerial multinode is investigated in real time |
| CN108734655B (en) * | 2017-04-14 | 2021-11-30 | 中国科学院苏州纳米技术与纳米仿生研究所 | Method and system for detecting multiple nodes in air in real time |
| CN107656544A (en) * | 2017-11-10 | 2018-02-02 | 广东工业大学 | A kind of method and system of unmanned aerial vehicle (UAV) control |
| CN107656544B (en) * | 2017-11-10 | 2020-10-23 | 广东工业大学 | Unmanned aerial vehicle control method and system |
| CN108419052A (en) * | 2018-03-28 | 2018-08-17 | 深圳臻迪信息技术有限公司 | A kind of more unmanned plane method for panoramic imaging |
| CN108508916B (en) * | 2018-04-02 | 2021-05-07 | 南方科技大学 | Control method, device and equipment for unmanned aerial vehicle formation and storage medium |
| CN108508916A (en) * | 2018-04-02 | 2018-09-07 | 南方科技大学 | Control method, device and equipment for unmanned aerial vehicle formation and storage medium |
| CN110312085A (en) * | 2019-06-06 | 2019-10-08 | 武汉易科空间信息技术股份有限公司 | Image interfusion method and system based on multiple unmanned plane technologies |
| CN112532508A (en) * | 2019-09-18 | 2021-03-19 | 华为技术有限公司 | Video communication method and video communication device |
| CN111208842B (en) * | 2019-12-27 | 2021-03-19 | 西安羚控电子科技有限公司 | Virtual unmanned aerial vehicle and entity unmanned aerial vehicle mixed cluster task control system |
| CN111208842A (en) * | 2019-12-27 | 2020-05-29 | 西安羚控电子科技有限公司 | Virtual unmanned aerial vehicle and entity unmanned aerial vehicle mixed cluster task control system |
| CN111526328A (en) * | 2020-03-18 | 2020-08-11 | 深圳市华橙数字科技有限公司 | Video monitoring inspection method, device, terminal and storage medium |
| CN111526328B (en) * | 2020-03-18 | 2022-01-04 | 深圳市华橙数字科技有限公司 | Video monitoring inspection method, device, terminal and storage medium |
| CN113747198A (en) * | 2021-06-25 | 2021-12-03 | 航天时代飞鸿技术有限公司 | Unmanned aerial vehicle cluster video picture rendering and post-processing method, medium and device |
| CN113747198B (en) * | 2021-06-25 | 2024-02-09 | 航天时代飞鸿技术有限公司 | Unmanned aerial vehicle cluster video picture rendering and post-processing method, medium and device |
| CN114280995A (en) * | 2021-12-27 | 2022-04-05 | 广州信邦智能装备股份有限公司 | Monitoring system for ground combined test bed of unmanned aerial vehicle environment control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103686084A (en) | Panoramic video monitoring method used for cooperative real-time reconnaissance of multiple unmanned aerial vehicles | |
| CN106454209B (en) | The fast anti-data link system of unmanned plane emergency and method based on TEMPORAL-SPATIAL INFORMATION FUSION | |
| EP3443749B1 (en) | Systems and methods for video processing and display | |
| EP3687156B1 (en) | Dual lens system having a light splitter | |
| US10687050B2 (en) | Methods and systems of reducing latency in communication of image data between devices | |
| WO2019104652A1 (en) | Unmanned aerial vehicle system, and communication method and remote control device therefor | |
| CN106647804B (en) | A kind of automatic detecting method and system | |
| CN105700547B (en) | A kind of aerial three-dimensional video-frequency streetscape system and implementation method based on navigation dirigible | |
| US20200106818A1 (en) | Drone real-time interactive communications system | |
| CN205510277U (en) | Unmanned aerial vehicle panoramic picture transmission equipment | |
| US20160249038A1 (en) | Method and apparatus for capturing 360 degree viewing images using spherical camera and mobile phone | |
| CN104071333A (en) | Big dipper and 4G-based unmanned aerial vehicle | |
| CN101819711A (en) | 3G/4G communication technology-based remotely piloted system | |
| CN204669524U (en) | A kind of unmanned plane control system based on mobile Internet | |
| CN103944671A (en) | Method and system for real-time transmission of ultra-wideband airborne data based on multichannel aggregation | |
| WO2023029551A1 (en) | Image stitching method and system based on multiple unmanned aerial vehicles | |
| US20220261953A1 (en) | Systems and methods for image display | |
| CN110992484A (en) | Method for displaying traffic dynamic video in real scene three-dimensional platform | |
| CN106060523A (en) | Methods for collecting and displaying panoramic stereo images, and corresponding devices | |
| CN108762279A (en) | A kind of parallel control loop | |
| CN106394918A (en) | Unmanned aerial vehicle carried panorama camera system and operation method thereof | |
| CN105828043A (en) | Unmanned aerial vehicle video remote transmission system | |
| CN104683773A (en) | Video high-speed transmission method using unmanned aerial vehicle | |
| CN112365591A (en) | Space and ground collaborative comprehensive situation generation method based on synthetic vision | |
| CN114326764A (en) | Rtmp transmission-based smart forestry unmanned aerial vehicle fixed-point live broadcast method and unmanned aerial vehicle system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140326 |
|
| WD01 | Invention patent application deemed withdrawn after publication |