CN105466430A - 一种无人机的定位方法和装置 - Google Patents
一种无人机的定位方法和装置 Download PDFInfo
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- CN105466430A CN105466430A CN201511032320.6A CN201511032320A CN105466430A CN 105466430 A CN105466430 A CN 105466430A CN 201511032320 A CN201511032320 A CN 201511032320A CN 105466430 A CN105466430 A CN 105466430A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004807 localization Effects 0.000 claims description 25
- 230000005484 gravity Effects 0.000 abstract description 8
- 238000013507 mapping Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 239000003086 colorant Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000004040 coloring Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/17—Terrestrial scenes taken from planes or by drones
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Automation & Control Theory (AREA)
- Astronomy & Astrophysics (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Image Analysis (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Image Processing (AREA)
- Data Mining & Analysis (AREA)
- Geometry (AREA)
- Operations Research (AREA)
- Algebra (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
Abstract
Description
Claims (12)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201511032320.6A CN105466430B (zh) | 2015-12-31 | 2015-12-31 | 一种无人机的定位方法和装置 |
US15/394,589 US10133929B2 (en) | 2015-12-31 | 2016-12-29 | Positioning method and positioning device for unmanned aerial vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201511032320.6A CN105466430B (zh) | 2015-12-31 | 2015-12-31 | 一种无人机的定位方法和装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105466430A true CN105466430A (zh) | 2016-04-06 |
CN105466430B CN105466430B (zh) | 2018-11-06 |
Family
ID=55604389
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN201511032320.6A Active CN105466430B (zh) | 2015-12-31 | 2015-12-31 | 一种无人机的定位方法和装置 |
Country Status (2)
Country | Link |
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US (1) | US10133929B2 (zh) |
CN (1) | CN105466430B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106225787A (zh) * | 2016-07-29 | 2016-12-14 | 北方工业大学 | 一种无人机视觉定位方法 |
CN106444846A (zh) * | 2016-08-19 | 2017-02-22 | 杭州零智科技有限公司 | 移动终端的定位和控制方法、装置及无人机 |
CN106980880A (zh) * | 2017-03-06 | 2017-07-25 | 北京小米移动软件有限公司 | 图像匹配的方法及装置 |
CN108287353A (zh) * | 2018-01-03 | 2018-07-17 | 武汉理工大学 | 天基无人机通讯卫星定位跟踪方法 |
CN110689586A (zh) * | 2018-07-08 | 2020-01-14 | 清华大学 | 中医智能舌诊中的舌像识别方法和用于该方法的便携式校正色卡 |
CN113379690A (zh) * | 2021-05-31 | 2021-09-10 | 山东省科学院激光研究所 | 墙体渗水自动检测方法及系统 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110956585B (zh) * | 2019-11-29 | 2020-09-15 | 深圳市英博超算科技有限公司 | 全景图像拼接方法、装置以及计算机可读存储介质 |
CN115021800B (zh) * | 2022-07-19 | 2023-03-31 | 国家无线电监测中心福建监测站 | 使用无人机查找Ka频段卫星终端的方法、装置和电子设备 |
CN115331130B (zh) * | 2022-10-14 | 2023-01-31 | 南京瑞蓝世光电传感技术研究院有限公司 | 基于地理标志物辅助导航的无人机巡检方法和无人机 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050174348A1 (en) * | 2002-10-30 | 2005-08-11 | Yoshiyuki Sakaguchi | Image processing device, image processing program, recording medium recording the program, image processing method, and shading information acquisition device |
CN101093581A (zh) * | 2006-06-23 | 2007-12-26 | 佳能株式会社 | 基于摄取图像计算关于测量对象的信息的信息处理方法和设备 |
CN103822635A (zh) * | 2014-03-05 | 2014-05-28 | 北京航空航天大学 | 基于视觉信息的无人机飞行中空间位置实时计算方法 |
CN104807460A (zh) * | 2015-05-04 | 2015-07-29 | 深圳大学 | 无人机室内定位方法及系统 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8374391B1 (en) * | 2010-04-16 | 2013-02-12 | The Boeing Company | Model of visibility of targets |
WO2013059399A1 (en) * | 2011-10-20 | 2013-04-25 | Monsanto Technology Llc | Plant stand counter |
-
2015
- 2015-12-31 CN CN201511032320.6A patent/CN105466430B/zh active Active
-
2016
- 2016-12-29 US US15/394,589 patent/US10133929B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20050174348A1 (en) * | 2002-10-30 | 2005-08-11 | Yoshiyuki Sakaguchi | Image processing device, image processing program, recording medium recording the program, image processing method, and shading information acquisition device |
CN101093581A (zh) * | 2006-06-23 | 2007-12-26 | 佳能株式会社 | 基于摄取图像计算关于测量对象的信息的信息处理方法和设备 |
CN103822635A (zh) * | 2014-03-05 | 2014-05-28 | 北京航空航天大学 | 基于视觉信息的无人机飞行中空间位置实时计算方法 |
CN104807460A (zh) * | 2015-05-04 | 2015-07-29 | 深圳大学 | 无人机室内定位方法及系统 |
Non-Patent Citations (1)
Title |
---|
YANG FAN: ""A Vision-Based Algorithm for Landing Unmanned Aerial Vehicles"", 《2008 INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND SOFTWARE ENGINEERING》 * |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106225787A (zh) * | 2016-07-29 | 2016-12-14 | 北方工业大学 | 一种无人机视觉定位方法 |
CN106225787B (zh) * | 2016-07-29 | 2019-03-29 | 北方工业大学 | 一种无人机视觉定位方法 |
CN106444846A (zh) * | 2016-08-19 | 2017-02-22 | 杭州零智科技有限公司 | 移动终端的定位和控制方法、装置及无人机 |
CN106980880A (zh) * | 2017-03-06 | 2017-07-25 | 北京小米移动软件有限公司 | 图像匹配的方法及装置 |
CN108287353A (zh) * | 2018-01-03 | 2018-07-17 | 武汉理工大学 | 天基无人机通讯卫星定位跟踪方法 |
CN108287353B (zh) * | 2018-01-03 | 2020-01-14 | 武汉理工大学 | 天基无人机通讯卫星定位跟踪方法 |
CN110689586A (zh) * | 2018-07-08 | 2020-01-14 | 清华大学 | 中医智能舌诊中的舌像识别方法和用于该方法的便携式校正色卡 |
CN110689586B (zh) * | 2018-07-08 | 2022-12-16 | 清华大学 | 中医智能舌诊中的舌像识别方法和用于该方法的便携式校正色卡 |
CN113379690A (zh) * | 2021-05-31 | 2021-09-10 | 山东省科学院激光研究所 | 墙体渗水自动检测方法及系统 |
CN113379690B (zh) * | 2021-05-31 | 2023-04-07 | 山东省科学院激光研究所 | 墙体渗水自动检测方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
US10133929B2 (en) | 2018-11-20 |
US20170193271A1 (en) | 2017-07-06 |
CN105466430B (zh) | 2018-11-06 |
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Effective date of registration: 20180213 Address after: No. 309-9, service center, Chen Tong, Hexi District, Dongting Road, Hexi District, Tianjin, Tianjin Applicant after: Tianjin Yuanyu Technology Co.,Ltd. Address before: 100094 Beijing, Haidian District, northeast Wang West Road, No. 8 Zhongguancun Software Park, building 9, 203 Applicant before: ZEROTECH (BEIJING) INTELLIGENCE TECHNOLOGY Co.,Ltd. |
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Address after: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Patentee after: Tianjin Yuandu Technology Co.,Ltd. Address before: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Patentee before: Tianjin Yuanyu Technology Co.,Ltd. |
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Address after: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee after: Hebei xiong'an Yuandu Technology Co.,Ltd. Address before: 300220 Hexi District, Tianjin Dongting Road 20, Chen Tang science and Technology Business District Service Center 309-9. Patentee before: Tianjin Yuandu Technology Co.,Ltd. |
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Effective date of registration: 20210121 Address after: 102100 1916, building 27, yard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing Patentee after: Beijing Yuandu Internet Technology Co.,Ltd. Address before: 0701600 A102, No. 67, tourism East Road, Anxin County, Baoding City, Hebei Province Patentee before: Hebei xiong'an Yuandu Technology Co.,Ltd. |
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