CN106204443A - A kind of panorama UAS based on the multiplexing of many mesh - Google Patents
A kind of panorama UAS based on the multiplexing of many mesh Download PDFInfo
- Publication number
- CN106204443A CN106204443A CN201610502799.3A CN201610502799A CN106204443A CN 106204443 A CN106204443 A CN 106204443A CN 201610502799 A CN201610502799 A CN 201610502799A CN 106204443 A CN106204443 A CN 106204443A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- unit
- image
- panorama
- module
- 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
- 230000000007 visual effect Effects 0.000 claims abstract description 27
- 238000000034 method Methods 0.000 claims abstract description 12
- 238000012937 correction Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
- 238000000691 measurement method Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 2
- 239000000284 extract Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 241000422846 Sequoiadendron giganteum Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 230000003780 keratinization Effects 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- 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
- G06T2207/10028—Range image; Depth image; 3D point clouds
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Geometry (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Computer Graphics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of panorama UAS based on the multiplexing of many mesh, panorama UAS can make unmanned plane acquisition panoramic mosaic image without dead angle when flight by visual unit, to allow the control flight condition intuitively of remote manipulation user；The distance of target object distance unmanned plane can be measured by range cells；Reconstruction unit is utilized can earth's surface object or landform to be rebuild；Use hovering unit can control unmanned plane to hover in aerial so that photographing panorama picture range finding etc. operate；Use avoidance unit can avoid obstacle in unmanned plane during flying process, utilize control unit correction flight path to ensure the safety of unmanned plane during flying.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of panorama UAS based on the multiplexing of many mesh.
Background technology
Along with raising and the increasing market demand of science and technology, unmanned plane is increasingly had a preference for by user,
The field of its application mainly has: country ecological environmental protection, mineral resources exploration, ocean environment monitoring, land use survey, water
Development of resources, Grain Growth Situation detection and the yield by estimation, agricultural operation, natural disaster detection and assessment, urban planning and municipal administration,
Forest disease and pest protection and detection, public safety, Defence business, digital earth and advertisement photography etc..But, existing unmanned
The function that facility have is less, owing to the restriction of its volume and gravity and prior art cannot have several functions concurrently, such as limited sight
Cannot automatically fly in the space of little scope, need user's remote manual control, in case unmanned aerial vehicle wall is damaged.
Summary of the invention
The problems referred to above existed for existing unmanned plane, now provide one to aim at collection and find range, rebuild, hover and keep away
The panorama UAS based on the multiplexing of many mesh that barrier is integrated.
Concrete technical scheme is as follows:
A kind of panorama UAS based on the multiplexing of many mesh, is applied in unmanned plane, including:
One visual unit, including a plurality of cameras, a plurality of described cameras are arranged on described unmanned plane, for picked-up with described
Unmanned plane is the panoramic mosaic image at 360 degree of visual angles of optic centre, and the part visual angle of two described cameras that position is adjacent is overlapping；
One range cells, connects described visual unit, uses binocular stereo vision measurement method to obtain described unmanned plane distance objective
The distance of object；
One reconstruction unit, connects described visual unit, in order to described panoramic mosaic image to carry out pretreatment, obtains three-dimensional point cloud
Data are to carry out terrain reconstruction according to described three dimensional point cloud；
One hovering unit a, it is provided that three dimensional space coordinate, described hovering unit hovers in described in order to control described unmanned plane
The locus of three dimensional space coordinate coupling；
One avoidance unit a, it is provided that flight path and secure threshold, in order to timing detection in described flight path described in distance
Whether the barrier of unmanned plane reaches described secure threshold, the dyspoiesis information when reaching described secure threshold, and exports；
One control unit, connect respectively described visual unit, described range cells, described reconstruction unit, described hovering unit and
Described avoidance unit, according to flight path described in described avoidance Information revision, and generates described three dimensional space coordinate, controls described
Hovering unit performs hovering operation according to described three dimensional space coordinate.
Preferably, described visual unit includes:
One demarcating module, in order to demarcate a plurality of described cameras respectively, to obtain the inner parameter of each described camera
And external parameter, to obtain image coordinate in world coordinate system and the seat in image coordinate system that each described camera obtains
Target mapping relations；
One processing module, connects described demarcating module, and image described in every width carries out denoising respectively, and by all of described
Image projection, under unified coordinate system, uses image interpolation to process described image, carries out the image entered after processing
Coupling splicing is to obtain described panoramic mosaic image.
Preferably, described range cells includes:
One acquisition module, in order to obtain the position coordinates of described target object；
One locating module, the position coordinates current in order to obtain described unmanned plane；
One computing module, connects described acquisition module and described locating module, respectively in order to the position according to described target object
Coordinate and the current position coordinates of described unmanned plane calculate to obtain the described unmanned plane distance apart from described target object.
Preferably, the described camera that described acquisition module is adjacent by controlling wantonly one or two position in described visual unit
To carry out binocular stereo vision measurement, to obtain the position coordinates of described target object.
Preferably, described reconstruction unit, after described panoramic mosaic image carries out pretreatment, extracts described in continuous print two width
Feature point pairs figure in panoramic mosaic image mates two-by-two, to obtain corresponding point pair, uses three according to described corresponding point
Keratinization method obtains described three dimensional point cloud, to carry out terrain reconstruction according to described three dimensional point cloud.
Preferably, described pretreatment includes described panoramic mosaic image is carried out denoising and/or radiant correction.
Preferably, described hovering unit includes:
One detection module, for carrying out feature point detection with predetermined time interval according to described panoramic mosaic image, has to obtain
Effect characteristic point, according to described characteristic point position in position and world coordinate system in described panoramic mosaic image, obtains described
The three-dimensional coordinate of unmanned plane；
One judge module, connects described detection module, in order to judge the three-dimensional coordinate of two described unmanned planes that continuously acquires it
Difference, whether more than predetermined threshold value, if beyond predetermined threshold value, exports revision directive；
One correcting module, connects described judge module, in order to the current spatial according to unmanned plane described in described revision directive correction
Position.
Preferably, also include:
One tracking cell, connects described control unit, in order to detect moving target, generates according to testing result and follows the tracks of road
Footpath, is tracked described moving target according to described track path.
The beneficial effect of technique scheme:
The technical program can make unmanned plane acquisition panoramic mosaic image without dead angle when flight, to allow remote control by visual unit
The control flight condition intuitively of operation user；The distance of target object distance unmanned plane can be measured by range cells；Utilize
Earth's surface object or landform can be rebuild by reconstruction unit；Use hovering unit can control unmanned plane to hover in aerial to shoot
Panoramic picture range findings etc. operate；Use avoidance unit can avoid obstacle in unmanned plane during flying process, utilize control unit correction
Flight path is to ensure the safety of unmanned plane during flying.
Accompanying drawing explanation
Fig. 1 is the module map of a kind of embodiment of panorama UAS based on the multiplexing of many mesh of the present invention；
Fig. 2 is the schematic diagram that binocular stereo vision is measured.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained on the premise of not making creative work all its
His embodiment, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment can phases
Combination mutually.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
As it is shown in figure 1, a kind of panorama UAS based on the multiplexing of many mesh, it is applied in unmanned plane, including:
One visual unit, including a plurality of cameras, a plurality of cameras are arranged on unmanned plane, for picked-up with unmanned plane as vision
The panoramic mosaic image at 360 degree of visual angles, center, the part visual angle of two cameras that position is adjacent is overlapping；
One range cells, connect visual unit, use binocular stereo vision measurement method obtain unmanned plane distance objective object away from
From；
One reconstruction unit, connects visual unit, in order to panoramic mosaic image to carry out pretreatment, obtains three dimensional point cloud with root
Terrain reconstruction is carried out according to three dimensional point cloud；
One hovering unit, it is provided that a three dimensional space coordinate, hovering unit in order to control unmanned plane hover in three dimensional space coordinate
The locus of coupling；
One avoidance unit a, it is provided that flight path and secure threshold, in order to timing detection distance unmanned plane in flight path
Whether barrier reaches secure threshold, the dyspoiesis information when reaching secure threshold, and exports；
One control unit, connects visual unit, range cells, reconstruction unit, hovering unit and avoidance unit, respectively according to avoidance
Information revision flight path, and generate three dimensional space coordinate, control hovering unit and perform hovering operation according to three dimensional space coordinate.
The present embodiment integrates range finding, rebuilds, hovers and avoidance has several functions, and the flight for unmanned plane provides
Several functions.Unmanned plane acquisition panoramic mosaic image without dead angle when flight can be made, to allow remote manipulation by visual unit
The control flight condition intuitively of user；The distance of target object distance unmanned plane can be measured by range cells；Utilize and rebuild
Earth's surface object or landform can be rebuild by unit；Use hovering unit can control unmanned plane to hover in aerial to pan
Image range findings etc. operate；Use avoidance unit can avoid obstacle in unmanned plane during flying process, utilize control unit correction to fly
Route is to ensure the safety of unmanned plane during flying.
In a preferred embodiment, visual unit includes:
One demarcating module, in order to demarcate a plurality of cameras respectively, to obtain the inner parameter of each camera and outside ginseng
Number, to obtain image coordinate in world coordinate system and the mapping pass of the coordinate in image coordinate system that each camera obtains
System；
One processing module, connects demarcating module, and each image carries out denoising respectively, and by all of image projection to system
Under the coordinate system of, use image interpolation that image is processed, the image entered after processing is carried out coupling splicing complete to obtain
Scape stitching image.
In the present embodiment, a plurality of cameras are respectively arranged at the top of inorganic people, sidepiece and bottom, have one to obtain
Determine the image of degree of overlapping, panoramic mosaic image will be spliced into through pretreated multiple image, to realize at image scale
Obtain bigger shooting area under conditions of constant, definition is constant, reduce unmanned plane during flying number of times.By demarcating module to camera
Demarcate, obtain inner parameter and the external parameter of camera, thus obtain in world coordinate system coordinate with in image coordinate system
The mapping relations one by one of coordinate.Utilize processing module that image carries out the pretreatment such as denoising, then project image onto unified
Under coordinate system, after image interpolation operates, carry out the operations such as images match, finally obtain seamless panoramic mosaic image.
In a preferred embodiment, range cells includes:
One acquisition module, in order to obtain the position coordinates of target object；
One locating module, the position coordinates current in order to obtain unmanned plane；
One computing module, connects acquisition module and locating module, respectively in order to the position coordinates according to target object and unmanned plane
Current position coordinates calculates to obtain the distance of unmanned plane distance objective object.
Further, acquisition module is by controlling the adjacent camera in wantonly one or two position in visual unit to carry out binocular
Stereo-visiuon measurement, to obtain the position coordinates of target object.
In the present embodiment, acquisition module controls wantonly one or two adjacent camera, thus sets up binocular stereo vision and measure,
Obtain the position coordinates of target object.
The principle that binocular stereo vision is measured is as follows:
As a example by image A in Fig. 2 is and image B: pointPIt is a bit in space in observed object, in left camera coordinates system
Three-dimensional coordinate be (X C , Y C , Z C ), the image space on two width images is respectivelyP a(x 1, y 1)、P b(x 2, y 2), pass through
The geometrical relationship of similar triangles can obtain:
Wherein,x 1、y 1、x 2、y 2It is the physical coordinates in plane picture,B C It is the external parameter (baseline distance) of camera,fCamera
Inner parameter (focal length), | | for parallax, i.e. pointPPosition skew in two sub-pictures.Owing to camera is in vertical direction
Same plane, thereforey=y 1=y 2, then parallax is |x 1- x 2|。
Inner parameter according to camera and the distortion parameter of camera lens, obtain during binocular stereo vision is measured the phase related to
Machine attitude parameter (i.e. external parameter) under current angular, measure target object position coordinates (), and root
Obtain, according to locating module, the position coordinates that unmanned plane is current, then try to achieve the distance of target object distance unmanned plane.
In a preferred embodiment, reconstruction unit, after panoramic mosaic image carries out pretreatment, extracts continuous print two width complete
Feature point pairs figure in scape stitching image mates two-by-two, to obtain corresponding point pair, uses trigonometric ratio side according to corresponding point
Method obtains three dimensional point cloud, to carry out terrain reconstruction according to three dimensional point cloud.
Further, pretreatment includes panoramic mosaic image is carried out denoising and/or radiant correction.
In the present embodiment, reconstruction unit carries out denoising, radiation rectification etc. and processes panoramic mosaic image, extracts image special
Levying a little, and image is mated by distinguished point based two-by-two, deletion error coupling is right, obtains more accurate corresponding point.There is mark
Fixed image and corresponding image characteristic point, just can obtain three-dimensional point cloud coordinate by Triangulation Algorithm for registration result, right
Image carries out trigonometric ratio, obtains three dimensional point cloud, three dimensional point cloud carries out gridding process and carries out texture mapping, from
And complete terrain reconstruction.
In a preferred embodiment, hovering unit includes:
One detection module, for carrying out feature point detection with predetermined time interval according to panoramic mosaic image, the most special to obtain
Levy a little, according to characteristic point position in position and world coordinate system in panoramic mosaic image, obtain the three-dimensional coordinate of unmanned plane；
One judge module, connection detection module, in order to judge that the difference of the three-dimensional coordinate of two unmanned planes continuously acquired is the biggest
In predetermined threshold value, if beyond predetermined threshold value, export revision directive；
One correcting module, connection judgment module, in order to the current spatial location according to revision directive correction unmanned plane.
In the present embodiment, hovering unit is to be fixed on by unmanned plane on default height and position and horizontal level,
Will be fixed on one group of three-dimensional coordinate by unmanned plane.When hovering operation, need to utilize multiple camera that scene around is taken pictures,
Then image is carried out feature point detection, find effective characteristic point.And the characteristic point in each image is mated, find
Characteristic of correspondence point pair.According to Binocular Vision Principle, by feature point pairs position in image and world coordinate system, inverse goes out
The three-dimensional coordinate of video camera.Shoot one group of image again every certain time, if obtained three-dimensional coordinate with last obtain three
The difference of dimension coordinate is more than predetermined threshold value, then be modified the current spatial location of unmanned plane by correcting module.On repeating
State operation, till terminating hovering operation.
In a preferred embodiment, also include:
One tracking cell, connects control unit, in order to detect moving target, generates track path according to testing result,
According to track path, moving target is tracked.
In the present embodiment, the detailed process being tracked moving target is:
1) estimation (global motion compensation): in view of the Displacement Estimation i.e. global motion compensation of background, background need to be removed
Impact, eliminates error, lays the foundation for follow-up moving object detection and tracking；The three parameter model rotating translation is used to estimate
The image background displacement that meter is produced by camera motion；
2) target detection: utilize background subtraction to detect moving target.The extraction of moving target can be by present image and the back of the body
The difference of scape image obtains.When camera is static, present image isI k+1(r,t), background image isu k+1(r,t), in image
The change information of each pixel value is D k+1(r,t)；
D k+1(r,t)=| I k+1(r,t)- u k+1(r,t)|
Wherein,I k+1(r,t) andu k+1(r,t) can be a certain pixel value of image, such as brightness, it is also possible to be that some of image is special
Levy, such as color.Work as D k+1(r,t) when reaching a predetermined threshold value, then may be considered moving target.
3) target following: after completing target detection, obtains the letters such as the position of moving target, size and shape from image
Breath, using moving target as a template, obtains one piece of region from image, calculates respective pixel between this block region and template
Correlation coefficient, thus realize tracking to target.
On the basis of technique scheme, further, during unmanned plane flight aloft, it is typically all according to planning in advance
Good route carries out flying.When unmanned plane runs into barrier in flight course (such as building, big tree etc.), can be by keeping away
Barrier unit cut-through thing also comes back to continue on initial plan route flight.When unmanned plane is in low altitude flight, utilization regards
Feel that unit controls to open multiple heading camera.Utilize the topography rebuild, the flight path of unmanned plane is done rule
Draw.Performance setting secure threshold (i.e. safe distance) according to unmanned plane.Utilize range cells that objects ahead is found range, sentence
Whether disconnected distance between target and unmanned plane is less than safe distance；If being less than, then utilize and control hovering list by control unit
Unit performs hovering operation will allow unmanned plane hover, and cut-through thing, finally come back to continuation in the flight path planned
Flight.
The present invention may utilize unmanned plane, obtains the large scale panoramic mosaic image clearly of multiple angle；By unmanned
The functions such as the range finding of machine, hovering, avoidance, reconstruction, make unmanned plane have greater flexibility and higher safety when flight.Also
The unmanned plane tracking to moving target can be realized so that the purposes of unmanned plane is abundanter.The present invention be integrated with splicing, range finding,
The several functions such as hovering, avoidance, terrain reconstruction, tracking, take full advantage of multiple cameras of configuration on unmanned plane.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and protection model
Enclose, to those skilled in the art, it should can appreciate that done by all utilization description of the invention and diagramatic content
Scheme obtained by equivalent and obvious change, all should be included in protection scope of the present invention.
Claims (8)
1. a panorama UAS based on the multiplexing of many mesh, is applied in unmanned plane, it is characterised in that including:
One visual unit, including a plurality of cameras, a plurality of described cameras are arranged on described unmanned plane, for picked-up with described
Unmanned plane is the panoramic mosaic image at 360 degree of visual angles of optic centre, and the part visual angle of two described cameras that position is adjacent is overlapping；
One range cells, connects described visual unit, uses binocular stereo vision measurement method to obtain described unmanned plane distance objective
The distance of object；
One reconstruction unit, connects described visual unit, in order to described panoramic mosaic image to carry out pretreatment, obtains three-dimensional point cloud
Data are to carry out terrain reconstruction according to described three dimensional point cloud；
One hovering unit a, it is provided that three dimensional space coordinate, described hovering unit hovers in described in order to control described unmanned plane
The locus of three dimensional space coordinate coupling；
One avoidance unit a, it is provided that flight path and secure threshold, in order to timing detection in described flight path described in distance
Whether the barrier of unmanned plane reaches described secure threshold, the dyspoiesis information when reaching described secure threshold, and exports；
One control unit, connect respectively described visual unit, described range cells, described reconstruction unit, described hovering unit and
Described avoidance unit, according to flight path described in described avoidance Information revision, and generates described three dimensional space coordinate, controls described
Hovering unit performs hovering operation according to described three dimensional space coordinate.
2. panorama UAS based on the multiplexing of many mesh as claimed in claim 1, it is characterised in that described visual unit bag
Include:
One demarcating module, in order to demarcate a plurality of described cameras respectively, to obtain the inner parameter of each described camera
And external parameter, to obtain image coordinate in world coordinate system and the seat in image coordinate system that each described camera obtains
Target mapping relations；
One processing module, connects described demarcating module, and image described in every width carries out denoising respectively, and by all of described
Image projection, under unified coordinate system, uses image interpolation to process described image, carries out the image entered after processing
Coupling splicing is to obtain described panoramic mosaic image.
3. panorama UAS based on the multiplexing of many mesh as claimed in claim 1, it is characterised in that described range cells bag
Include:
One acquisition module, in order to obtain the position coordinates of described target object；
One locating module, the position coordinates current in order to obtain described unmanned plane；
One computing module, connects described acquisition module and described locating module, respectively in order to the position according to described target object
Coordinate and the current position coordinates of described unmanned plane calculate to obtain the described unmanned plane distance apart from described target object.
4. panorama UAS based on the multiplexing of many mesh as claimed in claim 3, it is characterised in that described acquisition module leads to
Cross the adjacent described camera in wantonly one or two position controlling in described visual unit to carry out binocular stereo vision measurement, to obtain
The position coordinates of described target object.
5. panorama UAS based on the multiplexing of many mesh as claimed in claim 1, it is characterised in that described reconstruction unit exists
After described panoramic mosaic image carries out pretreatment, the feature point pairs figure extracted in panoramic mosaic image described in continuous print two width enters
Row mates two-by-two, to obtain corresponding point pair, uses Triangulation Algorithm to obtain described three dimensional point cloud according to described corresponding point, with
Terrain reconstruction is carried out according to described three dimensional point cloud.
6. the panorama UAS based on the multiplexing of many mesh as described in claim 1 or 5, it is characterised in that described pretreatment
Denoising and/or radiant correction is carried out including to described panoramic mosaic image.
7. panorama UAS based on the multiplexing of many mesh as claimed in claim 1, it is characterised in that described hovering unit bag
Include:
One detection module, for carrying out feature point detection with predetermined time interval according to described panoramic mosaic image, has to obtain
Effect characteristic point, according to described characteristic point position in position and world coordinate system in described panoramic mosaic image, obtains described
The three-dimensional coordinate of unmanned plane；
One judge module, connects described detection module, in order to judge the three-dimensional coordinate of two described unmanned planes that continuously acquires it
Difference, whether more than predetermined threshold value, if beyond predetermined threshold value, exports revision directive；
One correcting module, connects described judge module, in order to the current spatial according to unmanned plane described in described revision directive correction
Position.
8. panorama UAS based on the multiplexing of many mesh as claimed in claim 1, it is characterised in that also include:
One tracking cell, connects described control unit, in order to detect moving target, generates according to testing result and follows the tracks of road
Footpath, is tracked described moving target according to described track path.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610502799.3A CN106204443A (en) | 2016-07-01 | 2016-07-01 | A kind of panorama UAS based on the multiplexing of many mesh |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610502799.3A CN106204443A (en) | 2016-07-01 | 2016-07-01 | A kind of panorama UAS based on the multiplexing of many mesh |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106204443A true CN106204443A (en) | 2016-12-07 |
Family
ID=57463891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610502799.3A Pending CN106204443A (en) | 2016-07-01 | 2016-07-01 | A kind of panorama UAS based on the multiplexing of many mesh |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106204443A (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774402A (en) * | 2016-12-28 | 2017-05-31 | 湖南省道通科技有限公司 | The method and device positioned to unmanned plane |
| CN106803271A (en) * | 2016-12-23 | 2017-06-06 | 成都通甲优博科技有限责任公司 | A kind of camera marking method and device of vision guided navigation unmanned plane |
| CN107065926A (en) * | 2017-04-12 | 2017-08-18 | 普宙飞行器科技（深圳）有限公司 | Omnidirectional's obstacle avoidance apparatus, head, the control method of head and avoidance obstacle method |
| CN107343177A (en) * | 2017-08-07 | 2017-11-10 | 深圳市华琥技术有限公司 | A kind of filming control method of unmanned plane panoramic video |
| CN107483911A (en) * | 2017-08-25 | 2017-12-15 | 秦山 | A kind of signal processing method and system based on more mesh imaging sensors |
| CN107730584A (en) * | 2017-10-30 | 2018-02-23 | 南京青臣创意数字科技有限公司 | A kind of panoramic space constructing system based on the technology of taking photo by plane |
| CN107833272A (en) * | 2017-10-30 | 2018-03-23 | 南京青臣创意数字科技有限公司 | A kind of panoramic space construction method |
| WO2018134677A1 (en) * | 2017-01-23 | 2018-07-26 | Hangzhou Zero Technology Co., Ltd | Multi-camera system and method of use |
| CN108447097A (en) * | 2018-03-05 | 2018-08-24 | 清华-伯克利深圳学院筹备办公室 | Depth camera scaling method, device, electronic equipment and storage medium |
| CN108873035A (en) * | 2018-05-10 | 2018-11-23 | 四川省冶地工程勘察设计有限公司 | A kind of remote sensing surveying and mapping technology suitable for city suburbs |
| CN108958283A (en) * | 2018-06-28 | 2018-12-07 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane low latitude automatic obstacle avoiding system |
| CN109164825A (en) * | 2018-08-13 | 2019-01-08 | 上海机电工程研究所 | A kind of independent navigation barrier-avoiding method and device for multi-rotor unmanned aerial vehicle |
| CN109214984A (en) * | 2017-07-03 | 2019-01-15 | 北京臻迪科技股份有限公司 | A kind of image acquiring method and device, calculate equipment at automatic positioning navigation system |
| CN109582032A (en) * | 2018-10-11 | 2019-04-05 | 天津大学 | Quick Real Time Obstacle Avoiding routing resource of the multi-rotor unmanned aerial vehicle under complex environment |
| CN109709977A (en) * | 2017-10-26 | 2019-05-03 | 广州极飞科技有限公司 | The method, apparatus and mobile object of motion track planning |
| CN109767387A (en) * | 2018-12-26 | 2019-05-17 | 北京木业邦科技有限公司 | A kind of forest image acquiring method and device based on unmanned plane |
| WO2019100219A1 (en) * | 2017-11-21 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Output image generation method, device and unmanned aerial vehicle |
| US10358214B2 (en) | 2015-01-04 | 2019-07-23 | Hangzhou Zero Zro Technology Co., Ltd. | Aerial vehicle and method of operation |
| CN110245634A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Multiposition, multi-angle crag deformation judgement and analysis method |
| US10435144B2 (en) | 2016-04-24 | 2019-10-08 | Hangzhou Zero Zero Technology Co., Ltd. | Aerial system propulsion assembly and method of use |
| CN110419209A (en) * | 2017-03-31 | 2019-11-05 | 日本电气株式会社 | Information processing unit, information processing method and message handling program |
| CN110823899A (en) * | 2018-08-10 | 2020-02-21 | 杭州海康机器人技术有限公司 | Fault positioning method, device and system |
| US10824167B2 (en) | 2015-01-04 | 2020-11-03 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for automated aerial system operation |
| US10824149B2 (en) | 2015-01-04 | 2020-11-03 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for automated aerial system operation |
| CN112508865A (en) * | 2020-11-23 | 2021-03-16 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection obstacle avoidance method and device, computer equipment and storage medium |
| CN112598010A (en) * | 2020-11-26 | 2021-04-02 | 厦门大学 | Binocular vision unstructured terrain real-time perception and reconstruction method |
| CN112614171A (en) * | 2020-11-26 | 2021-04-06 | 厦门大学 | Air-ground integrated dynamic environment sensing system for cluster operation of engineering machinery |
| WO2021088684A1 (en) * | 2019-11-07 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN115499596A (en) * | 2022-11-18 | 2022-12-20 | 北京中科觅境智慧生态科技有限公司 | Method and device for processing image |
| CN117392328A (en) * | 2023-12-07 | 2024-01-12 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
| CN117710467A (en) * | 2024-02-06 | 2024-03-15 | 天津云圣智能科技有限责任公司 | Unmanned plane positioning method, unmanned plane positioning equipment and aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495522A (en) * | 2011-12-01 | 2012-06-13 | 天津曙光敬业科技有限公司 | Method for manufacturing 360-degree air panoramic interactive roam system based on unmanned helicopter aerial shooting |
| CN104809759A (en) * | 2015-04-03 | 2015-07-29 | 哈尔滨工业大学深圳研究生院 | Large-area unstructured three-dimensional scene modeling method based on small unmanned helicopter |
| CN105203084A (en) * | 2015-07-02 | 2015-12-30 | 汤一平 | 3D panoramic vision device for unmanned aerial vehicle |
| CN105353758A (en) * | 2015-11-10 | 2016-02-24 | 闫夙 | Precise automatic lawnmower distributed beacon laser positioning and trajectory control system |
| CN105654502A (en) * | 2016-03-30 | 2016-06-08 | 广州市盛光微电子有限公司 | Panorama camera calibration device and method based on multiple lenses and multiple sensors |
| CN105704501A (en) * | 2016-02-06 | 2016-06-22 | 普宙飞行器科技（深圳）有限公司 | Unmanned plane panorama video-based virtual reality live broadcast system |
-
2016
- 2016-07-01 CN CN201610502799.3A patent/CN106204443A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102495522A (en) * | 2011-12-01 | 2012-06-13 | 天津曙光敬业科技有限公司 | Method for manufacturing 360-degree air panoramic interactive roam system based on unmanned helicopter aerial shooting |
| CN104809759A (en) * | 2015-04-03 | 2015-07-29 | 哈尔滨工业大学深圳研究生院 | Large-area unstructured three-dimensional scene modeling method based on small unmanned helicopter |
| CN105203084A (en) * | 2015-07-02 | 2015-12-30 | 汤一平 | 3D panoramic vision device for unmanned aerial vehicle |
| CN105353758A (en) * | 2015-11-10 | 2016-02-24 | 闫夙 | Precise automatic lawnmower distributed beacon laser positioning and trajectory control system |
| CN105704501A (en) * | 2016-02-06 | 2016-06-22 | 普宙飞行器科技（深圳）有限公司 | Unmanned plane panorama video-based virtual reality live broadcast system |
| CN105654502A (en) * | 2016-03-30 | 2016-06-08 | 广州市盛光微电子有限公司 | Panorama camera calibration device and method based on multiple lenses and multiple sensors |
Non-Patent Citations (1)
| Title |
|---|
| 苏鲜女 等: "《籒园讲坛 上》", 31 December 2012 * |
Cited By (46)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10824149B2 (en) | 2015-01-04 | 2020-11-03 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for automated aerial system operation |
| US10824167B2 (en) | 2015-01-04 | 2020-11-03 | Hangzhou Zero Zero Technology Co., Ltd. | System and method for automated aerial system operation |
| US10358214B2 (en) | 2015-01-04 | 2019-07-23 | Hangzhou Zero Zro Technology Co., Ltd. | Aerial vehicle and method of operation |
| US11027833B2 (en) | 2016-04-24 | 2021-06-08 | Hangzhou Zero Zero Technology Co., Ltd. | Aerial system propulsion assembly and method of use |
| US10435144B2 (en) | 2016-04-24 | 2019-10-08 | Hangzhou Zero Zero Technology Co., Ltd. | Aerial system propulsion assembly and method of use |
| CN106803271A (en) * | 2016-12-23 | 2017-06-06 | 成都通甲优博科技有限责任公司 | A kind of camera marking method and device of vision guided navigation unmanned plane |
| CN106803271B (en) * | 2016-12-23 | 2020-04-28 | 成都通甲优博科技有限责任公司 | Camera calibration method and device for visual navigation unmanned aerial vehicle |
| CN106774402A (en) * | 2016-12-28 | 2017-05-31 | 湖南省道通科技有限公司 | The method and device positioned to unmanned plane |
| WO2018120350A1 (en) * | 2016-12-28 | 2018-07-05 | 深圳市道通智能航空技术有限公司 | Method and device for positioning unmanned aerial vehicle |
| US10303185B2 (en) | 2017-01-23 | 2019-05-28 | Hangzhou Zero Zero Technology Co., Ltd. | Multi-camera system and method of use |
| WO2018134677A1 (en) * | 2017-01-23 | 2018-07-26 | Hangzhou Zero Technology Co., Ltd | Multi-camera system and method of use |
| CN110419209A (en) * | 2017-03-31 | 2019-11-05 | 日本电气株式会社 | Information processing unit, information processing method and message handling program |
| US10873689B2 (en) | 2017-03-31 | 2020-12-22 | Nec Corporation | Information processing apparatus, information processing method, and information processing program |
| CN107065926A (en) * | 2017-04-12 | 2017-08-18 | 普宙飞行器科技（深圳）有限公司 | Omnidirectional's obstacle avoidance apparatus, head, the control method of head and avoidance obstacle method |
| CN109214984A (en) * | 2017-07-03 | 2019-01-15 | 北京臻迪科技股份有限公司 | A kind of image acquiring method and device, calculate equipment at automatic positioning navigation system |
| CN109214984B (en) * | 2017-07-03 | 2023-03-14 | 臻迪科技股份有限公司 | Image acquisition method and device, autonomous positioning navigation system and computing equipment |
| CN107343177A (en) * | 2017-08-07 | 2017-11-10 | 深圳市华琥技术有限公司 | A kind of filming control method of unmanned plane panoramic video |
| CN107483911A (en) * | 2017-08-25 | 2017-12-15 | 秦山 | A kind of signal processing method and system based on more mesh imaging sensors |
| CN109709977B (en) * | 2017-10-26 | 2022-08-16 | 广州极飞科技股份有限公司 | Method and device for planning movement track and moving object |
| CN109709977A (en) * | 2017-10-26 | 2019-05-03 | 广州极飞科技有限公司 | The method, apparatus and mobile object of motion track planning |
| CN107833272A (en) * | 2017-10-30 | 2018-03-23 | 南京青臣创意数字科技有限公司 | A kind of panoramic space construction method |
| CN107730584A (en) * | 2017-10-30 | 2018-02-23 | 南京青臣创意数字科技有限公司 | A kind of panoramic space constructing system based on the technology of taking photo by plane |
| WO2019100219A1 (en) * | 2017-11-21 | 2019-05-31 | 深圳市大疆创新科技有限公司 | Output image generation method, device and unmanned aerial vehicle |
| CN108447097A (en) * | 2018-03-05 | 2018-08-24 | 清华-伯克利深圳学院筹备办公室 | Depth camera scaling method, device, electronic equipment and storage medium |
| CN108447097B (en) * | 2018-03-05 | 2021-04-27 | 清华-伯克利深圳学院筹备办公室 | Depth camera calibration method and device, electronic equipment and storage medium |
| CN108873035A (en) * | 2018-05-10 | 2018-11-23 | 四川省冶地工程勘察设计有限公司 | A kind of remote sensing surveying and mapping technology suitable for city suburbs |
| CN108958283A (en) * | 2018-06-28 | 2018-12-07 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane low latitude automatic obstacle avoiding system |
| CN110823899A (en) * | 2018-08-10 | 2020-02-21 | 杭州海康机器人技术有限公司 | Fault positioning method, device and system |
| CN110823899B (en) * | 2018-08-10 | 2022-07-05 | 杭州海康机器人技术有限公司 | Fault positioning method, device and system |
| CN109164825A (en) * | 2018-08-13 | 2019-01-08 | 上海机电工程研究所 | A kind of independent navigation barrier-avoiding method and device for multi-rotor unmanned aerial vehicle |
| CN109582032A (en) * | 2018-10-11 | 2019-04-05 | 天津大学 | Quick Real Time Obstacle Avoiding routing resource of the multi-rotor unmanned aerial vehicle under complex environment |
| CN109582032B (en) * | 2018-10-11 | 2021-10-12 | 天津大学 | Multi-rotor unmanned aerial vehicle rapid real-time obstacle avoidance path selection method in complex environment |
| CN109767387A (en) * | 2018-12-26 | 2019-05-17 | 北京木业邦科技有限公司 | A kind of forest image acquiring method and device based on unmanned plane |
| CN110245634A (en) * | 2019-06-20 | 2019-09-17 | 招商局重庆交通科研设计院有限公司 | Multiposition, multi-angle crag deformation judgement and analysis method |
| WO2021088684A1 (en) * | 2019-11-07 | 2021-05-14 | 深圳市道通智能航空技术股份有限公司 | Omnidirectional obstacle avoidance method and unmanned aerial vehicle |
| CN112508865A (en) * | 2020-11-23 | 2021-03-16 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection obstacle avoidance method and device, computer equipment and storage medium |
| CN112508865B (en) * | 2020-11-23 | 2024-02-02 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection obstacle avoidance method, unmanned aerial vehicle inspection obstacle avoidance device, computer equipment and storage medium |
| CN112614171A (en) * | 2020-11-26 | 2021-04-06 | 厦门大学 | Air-ground integrated dynamic environment sensing system for cluster operation of engineering machinery |
| CN112598010A (en) * | 2020-11-26 | 2021-04-02 | 厦门大学 | Binocular vision unstructured terrain real-time perception and reconstruction method |
| CN112598010B (en) * | 2020-11-26 | 2023-08-01 | 厦门大学 | Unstructured terrain real-time sensing and reconstructing method for binocular vision |
| CN112614171B (en) * | 2020-11-26 | 2023-12-19 | 厦门大学 | Air-ground integrated dynamic environment sensing system for engineering machinery cluster operation |
| CN115499596A (en) * | 2022-11-18 | 2022-12-20 | 北京中科觅境智慧生态科技有限公司 | Method and device for processing image |
| CN117392328A (en) * | 2023-12-07 | 2024-01-12 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
| CN117392328B (en) * | 2023-12-07 | 2024-02-23 | 四川云实信息技术有限公司 | Three-dimensional live-action modeling method and system based on unmanned aerial vehicle cluster |
| CN117710467A (en) * | 2024-02-06 | 2024-03-15 | 天津云圣智能科技有限责任公司 | Unmanned plane positioning method, unmanned plane positioning equipment and aircraft |
| CN117710467B (en) * | 2024-02-06 | 2024-05-28 | 天津云圣智能科技有限责任公司 | Unmanned plane positioning method, unmanned plane positioning equipment and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106204443A (en) | A kind of panorama UAS based on the multiplexing of many mesh | |
| KR102001728B1 (en) | Method and system for acquiring three dimentional position coordinates in non-control points using stereo camera drone | |
| CN108303099B (en) | Autonomous navigation method in unmanned plane room based on 3D vision SLAM | |
| KR102007567B1 (en) | Stereo drone and method and system for calculating earth volume in non-control points using the same | |
| JP7273927B2 (en) | Image-based positioning method and system | |
| CN108168521A (en) | One kind realizes landscape three-dimensional visualization method based on unmanned plane | |
| Yahyanejad et al. | Incremental mosaicking of images from autonomous, small-scale uavs | |
| KR100912715B1 (en) | Method and apparatus of digital photogrammetry by integrated modeling for different types of sensors | |
| Verhoeven et al. | Undistorting the past: New techniques for orthorectification of archaeological aerial frame imagery | |
| CN110070615A (en) | A kind of panoramic vision SLAM method based on polyphaser collaboration | |
| WO2015096806A1 (en) | Attitude determination, panoramic image generation and target recognition methods for intelligent machine | |
| CN109255808B (en) | Building texture extraction method and device based on oblique images | |
| CN106462943A (en) | Aligning panoramic imagery and aerial imagery | |
| Barazzetti et al. | True-orthophoto generation from UAV images: Implementation of a combined photogrammetric and computer vision approach | |
| CN108931235A (en) | Application method of the unmanned plane oblique photograph measuring technique in planing final construction datum | |
| Oskiper et al. | Augmented reality binoculars | |
| CN110488871B (en) | Unmanned aerial vehicle path dynamic planning method based on two-dimensional and three-dimensional integration | |
| CN103411587B (en) | Positioning and orientation method and system | |
| CN108399631B (en) | Scale invariance oblique image multi-view dense matching method | |
| CN110889873A (en) | Target positioning method and device, electronic equipment and storage medium | |
| CN108871285A (en) | Unmanned plane oblique photograph measuring system in planing final construction datum | |
| CN107527366A (en) | A kind of camera tracking towards depth camera | |
| CN116883604A (en) | Three-dimensional modeling technical method based on space, air and ground images | |
| IL267309B (en) | Terrestrial observation device having location determination functionality | |
| CN109978997A (en) | A kind of transmission line of electricity three-dimensional modeling method and system based on inclination image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
|
| RJ01 | Rejection of invention patent application after publication |