CN106548173B - 一种基于分级匹配策略的改进无人机三维信息获取方法 - Google Patents
一种基于分级匹配策略的改进无人机三维信息获取方法 Download PDFInfo
- Publication number
- CN106548173B CN106548173B CN201611067927.2A CN201611067927A CN106548173B CN 106548173 B CN106548173 B CN 106548173B CN 201611067927 A CN201611067927 A CN 201611067927A CN 106548173 B CN106548173 B CN 106548173B
- Authority
- CN
- China
- Prior art keywords
- image
- matching
- point
- window
- neighborhood
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000010586 diagram Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 18
- 239000000284 extract Substances 0.000 claims description 7
- 238000012937 correction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000003702 image correction Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000004807 localization Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 238000005352 clarification Methods 0.000 description 2
- 230000021615 conjugation Effects 0.000 description 2
- 238000011524 similarity measure Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- QBWCMBCROVPCKQ-UHFFFAOYSA-N chlorous acid Chemical compound OCl=O QBWCMBCROVPCKQ-UHFFFAOYSA-N 0.000 description 1
- 238000005314 correlation function Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003875 gradient-accelerated spectroscopy Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
- G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
- G06V10/752—Contour matching
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/60—Type of objects
- G06V20/64—Three-dimensional objects
- G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Software Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Computation (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Computing Systems (AREA)
- Health & Medical Sciences (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611067927.2A CN106548173B (zh) | 2016-11-24 | 2016-11-24 | 一种基于分级匹配策略的改进无人机三维信息获取方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611067927.2A CN106548173B (zh) | 2016-11-24 | 2016-11-24 | 一种基于分级匹配策略的改进无人机三维信息获取方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106548173A CN106548173A (zh) | 2017-03-29 |
CN106548173B true CN106548173B (zh) | 2019-04-09 |
Family
ID=58395917
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611067927.2A Active CN106548173B (zh) | 2016-11-24 | 2016-11-24 | 一种基于分级匹配策略的改进无人机三维信息获取方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106548173B (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108896577A (zh) * | 2018-05-30 | 2018-11-27 | 昆山睿力得软件技术有限公司 | 一种刹车片轮廓缺陷的自动检测方法 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107657644B (zh) * | 2017-09-28 | 2019-11-15 | 浙江大华技术股份有限公司 | 一种移动环境下稀疏场景流检测方法和装置 |
CN108127238A (zh) * | 2017-12-29 | 2018-06-08 | 南京理工大学 | 非平整面自主识别机器人增材成形的方法 |
CN108520559B (zh) * | 2018-04-04 | 2022-04-05 | 西安因诺航空科技有限公司 | 一种基于双目视觉的无人机定位导航的方法 |
CN108648234A (zh) * | 2018-04-19 | 2018-10-12 | 北京控制工程研究所 | 一种用于目标抓捕的机械臂相对导航方法 |
CN109459023B (zh) * | 2018-09-18 | 2021-07-16 | 武汉三体机器人有限公司 | 一种基于无人机视觉slam的辅助地面机器人导航方法及装置 |
CN110706280A (zh) * | 2018-09-28 | 2020-01-17 | 成都家有为力机器人技术有限公司 | 基于2d-slam的轻量级语义驱动的稀疏重建方法 |
CN110058604A (zh) * | 2019-05-24 | 2019-07-26 | 中国科学院地理科学与资源研究所 | 一种基于计算机视觉的无人机精准降落系统 |
CN111238488A (zh) * | 2020-03-18 | 2020-06-05 | 湖南云顶智能科技有限公司 | 一种基于异源图像匹配的飞行器精确定位方法 |
CN111524174B (zh) * | 2020-04-16 | 2023-08-29 | 上海航天控制技术研究所 | 一种动平台动目标双目视觉三维构建方法 |
CN114697623B (zh) * | 2020-12-29 | 2023-08-15 | 极米科技股份有限公司 | 投影面选取和投影图像校正方法、装置、投影仪及介质 |
CN113160332A (zh) * | 2021-04-28 | 2021-07-23 | 哈尔滨理工大学 | 一种基于双目视觉的多目标识别与定位方法 |
CN113985384B (zh) * | 2021-12-28 | 2022-05-24 | 中南大学 | 一种基于模板匹配的空间目标平动补偿方法及装置 |
CN114858095B (zh) * | 2022-04-27 | 2023-06-23 | 北京科技大学 | 一种基于双像解析的岩体结构面产状测量方法 |
CN115471728B (zh) * | 2022-10-12 | 2023-04-18 | 湖北工业大学 | 基于多阶几何约束整体匹配的果实快速三维定位方法 |
CN116205920B (zh) * | 2023-05-05 | 2023-07-18 | 天津医科大学总医院 | 基于肺扫描数据的重点区域检测模型生成方法及系统 |
CN116724885A (zh) * | 2023-07-28 | 2023-09-12 | 中国农业大学 | 一种脉冲气流式分层对靶番茄智能授粉装置及方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101419055A (zh) * | 2008-10-30 | 2009-04-29 | 北京航空航天大学 | 基于视觉的空间目标位姿测量装置和方法 |
CN104902258A (zh) * | 2015-06-09 | 2015-09-09 | 公安部第三研究所 | 一种基于立体视觉的多场景人流量统计方法、系统以及双目相机 |
-
2016
- 2016-11-24 CN CN201611067927.2A patent/CN106548173B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101419055A (zh) * | 2008-10-30 | 2009-04-29 | 北京航空航天大学 | 基于视觉的空间目标位姿测量装置和方法 |
CN104902258A (zh) * | 2015-06-09 | 2015-09-09 | 公安部第三研究所 | 一种基于立体视觉的多场景人流量统计方法、系统以及双目相机 |
Non-Patent Citations (2)
Title |
---|
"基于几何结构的零件切片轮廓特征点提取方法";张镇等;《工具技术》;20091231;第31-35页 |
"基于运动恢复的双目视觉三维重建系统设计";王欣等;《光学 精密工程》;20140531;第1379-1386页 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108896577A (zh) * | 2018-05-30 | 2018-11-27 | 昆山睿力得软件技术有限公司 | 一种刹车片轮廓缺陷的自动检测方法 |
Also Published As
Publication number | Publication date |
---|---|
CN106548173A (zh) | 2017-03-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106548173B (zh) | 一种基于分级匹配策略的改进无人机三维信息获取方法 | |
CN105809687B (zh) | 一种基于图像中边沿点信息的单目视觉测程方法 | |
CN109191504A (zh) | 一种无人机目标跟踪方法 | |
CN110261870A (zh) | 一种用于视觉-惯性-激光融合的同步定位与建图方法 | |
CN104484648A (zh) | 基于轮廓识别的机器人可变视角障碍物检测方法 | |
CN111968177B (zh) | 一种基于固定摄像头视觉的移动机器人定位方法 | |
Krombach et al. | Feature-based visual odometry prior for real-time semi-dense stereo SLAM | |
CN104732518A (zh) | 一种基于智能机器人地面特征的ptam改进方法 | |
CN107862735B (zh) | 一种基于结构信息的rgbd三维场景重建方法 | |
CN112484746B (zh) | 一种基于地平面的单目视觉辅助激光雷达里程计方法 | |
CN104023228A (zh) | 一种基于全局运动估计的自适应室内视觉定位方法 | |
CN109087323A (zh) | 一种基于精细cad模型的图像车辆三维姿态估计方法 | |
CN108151713A (zh) | 一种单目vo快速位姿估计方法 | |
CN111161334B (zh) | 一种基于深度学习的语义地图构建方法 | |
CN106096497B (zh) | 一种针对多元遥感数据的房屋矢量化方法 | |
Cvišić et al. | Recalibrating the KITTI dataset camera setup for improved odometry accuracy | |
CN110260866A (zh) | 一种基于视觉传感器的机器人定位与避障方法 | |
CN110514212A (zh) | 一种融合单目视觉和差分gnss的智能车地图地标定位方法 | |
KR20180015961A (ko) | 이미지를 기반으로 한 객체 위치 추정 방법 및 장치 | |
JP6410231B2 (ja) | 位置合わせ装置、位置合わせ方法及び位置合わせ用コンピュータプログラム | |
CN109764864B (zh) | 一种基于颜色识别的室内无人机位姿获取方法及系统 | |
Wang et al. | Temporal and spatial online integrated calibration for camera and LiDAR | |
CN104809720B (zh) | 基于小交叉视场的两相机目标关联方法 | |
CN110084754A (zh) | 一种基于改进sift特征点匹配算法的图像叠加方法 | |
Majdik et al. | Micro air vehicle localization and position tracking from textured 3d cadastral models |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee after: National Network Intelligent Technology Co., Ltd. Patentee after: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee after: State Grid Corporation of China Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Co-patentee before: Shandong Luneng Intelligent Technology Co., Ltd. Patentee before: Electric Power Research Institute of State Grid Shandong Electric Power Company Co-patentee before: State Grid Corporation of China |
|
CP01 | Change in the name or title of a patent holder | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201028 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: Wang Yue Central Road Ji'nan City, Shandong province 250002 City No. 2000 Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: National Network Intelligent Technology Co.,Ltd. Patentee before: STATE GRID CORPORATION OF CHINA |
|
TR01 | Transfer of patent right |