CN108416263B - Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring - Google Patents
Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring Download PDFInfo
- Publication number
- CN108416263B CN108416263B CN201810083818.2A CN201810083818A CN108416263B CN 108416263 B CN108416263 B CN 108416263B CN 201810083818 A CN201810083818 A CN 201810083818A CN 108416263 B CN108416263 B CN 108416263B
- Authority
- CN
- China
- Prior art keywords
- image
- aerial vehicle
- unmanned aerial
- rectangular
- marker
- 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
Images
Classifications
-
- 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
- G06V20/188—Vegetation
Abstract
A low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring comprises the following steps: (1) fitting a relation curve between the ground resolution g of the image and the shooting height H of the image; (2) collecting an image; (3) calculating to obtain a relational expression between the image pixel and the distance D; (4) calculating to obtain the position O of the unmanned aerial vehicle cameraaTo the center of each rectangular whiteboard marker1、O2、O3…OnIs actually a distance L1、L2、L3…LnThe actual distance between the current unmanned aerial vehicle and each rectangular whiteboard marker is calculated; (5) obtaining the ground position O under the camera of the unmanned aerial vehiclebAnd the central position O of each rectangular white board marker1、O2、O3…OnHorizontal distance D of1、D2、D3…Dn(ii) a (6) Obtaining real-time unmanned aerial vehicle measurement height through weighted average
The invention has the advantages of simple operation, cost saving, accurate measurement and the like. The invention belongs to the technical field of unmanned aerial vehicle remote sensing.
Description
Technical Field
The invention belongs to the technical field of agricultural unmanned aerial vehicle remote sensing, and particularly relates to a low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring.
Background
The traditional agricultural condition detection mainly depends on manual field investigation, and the mode is long in time consumption and large in workload; especially when the value of the planted species is large, it is difficult to obtain the whole crop information. In recent years, the application of unmanned aerial vehicle low-altitude remote sensing in the field of agricultural condition monitoring is more and more extensive. The agricultural condition monitoring based on unmanned aerial vehicle low-altitude remote sensing can rapidly and accurately acquire remote sensing images of large-range interested areas, can rapidly monitor and extract information of a certain area, and can analyze the agricultural condition, so that the operating efficiency of agricultural condition monitoring is greatly improved. However, the difference in the shooting heights during the remote sensing operation of the unmanned aerial vehicle affects the pixel resolution of each obtained remote sensing image, affects the matching relationship between the remote sensing images to be spliced and the characteristic points of the reference remote sensing image, affects the splicing effect of the remote sensing images at the later stage, and further affects the information judgment on the agricultural condition monitoring, so that the heights at the same level during the remote sensing operation of the unmanned aerial vehicle are particularly important. Although various unmanned aerial vehicle height measurement methods based on airborne laser, air pressure, inertial measurement, RTK GPS and the like exist in unmanned aerial vehicle remote sensing, the unmanned aerial vehicle height measurement method still has defects in the aspects of accuracy or cost: for example, the effective measurement distance of the laser measurement method is relatively short, the laser measurement method is greatly influenced by weather, and particularly cannot measure under the cloudy condition, the laser measurement method is easily limited by the field environment and weather condition of agricultural monitoring, and the practicability is not high; if the air pressure measurement method has errors along with the density change of the atmospheric region, the errors also occur due to the temperature and humidity change of the surrounding measurement environment, the air pressure resolution of the unmanned aerial vehicle is seriously insufficient during low-altitude flight, and the stability is poor; if a gyroscope or an acceleration sensor is used for inertial measurement, the height is obtained vertically through accumulation by an integral method, but due to uncertain change conditions of terrain, data only represents the relative height comparison with the original 0 bit, error accumulation is easy to cause, and the precision is inaccurate; for example, the real-time dynamic positioning technology of the RTK-based GPS using the carrier phase observation value provides a three-dimensional positioning result of a measurement station in a specified coordinate system in real time, so that the measurement accuracy is high, but the measurement requires a station data link to connect a base station and a rover station, and the equipment cost is too high.
Disclosure of Invention
Aiming at the problems, the invention provides a low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring.
A low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring comprises the following steps:
(1) selecting a plurality of rectangular white board markers with the same specification, attaching one rectangular white board marker to a flat wall surface, shooting a plurality of images at an angle vertical to the rectangular white board markers by using a camera of an image to be remotely sensed, selecting the image of the whole rectangular white board markers in the image as an experimental image, and fitting a relation curve between the ground resolution g of the image and the shooting height H of the image by using matlab software;
(2) setting a target position point, a preset distance range of the target position point, a target point in the preset distance range and an unmanned aerial vehicle flight route in a monitored field area, placing a plurality of rectangular white board markers in the preset distance range of the target position point at equal intervals, operating the unmanned aerial vehicle to fly to the target point in the preset distance range according to the set unmanned aerial vehicle flight route, and starting to acquire an image;
(3) preprocessing the image acquired in the step (2), extracting the ground pixel resolution of the rectangular whiteboard marker in the image after image processing, and calculating to obtain a relational expression of the image pixel and the distance D;
(4) calculating to obtain the unmanned aerial vehicle camera position O according to the corresponding relation between the ground pixel resolution g and the unmanned aerial vehicle flight height H in the step (1) and the ground pixel resolution occupied by each rectangular white board marker in the acquired imageaTo the center of each rectangular whiteboard marker1、O2、O3…OnIs actually a distance L1、L2、L3…LnThe actual distance between the current unmanned aerial vehicle and each rectangular whiteboard marker is calculated;
(5) calculating the ground position O right below the unmanned aerial vehicle camera according to the same collected image in the step (4)bAnd the central position O of each rectangular white board marker in the image1、O2、O3…OnThe ground position O under the unmanned aerial vehicle camera is obtained by the relational expression of the image pixel and the distance D in the step (3)bAnd the central position O of each rectangular white board marker1、O2、O3…OnHorizontal distance D of1、D2、D3…Dn；
(6) By geometric relationships of right triangles
According to the actual distance L1、L2、L3…LnAnd a horizontal distance D1、D2、D3…DnRespectively calculate the position O of the camera of the unmanned aerial vehicleaVertical distance H to ground1、H2、H3…HnAnd then obtaining the real-time unmanned aerial vehicle measurement height H ═ (H) through weighted average1+H2+H3+...+Hn)/n。
Preferably, the method further comprises the step (7): and (5) enabling the unmanned aerial vehicle to continuously fly forwards, repeating the steps (3), (4), (5) and (6), and measuring multiple groups of data to obtain an accurate result.
As a preference for the use of the composition,
in the step (1), during shooting, shooting a first image at an angle perpendicular to the white board of the rectangular white board marker from the distance from the camera to the distance capable of shooting all the rectangular white board markers into the image, then shooting a picture at an angle perpendicular to the white board of the rectangular white board marker every time the first image is away from the white board of the rectangular white board marker at the same distance, and shooting the picture at an angle perpendicular to the white board of the rectangular white board marker every time the first image is away from the white board of the rectangular white board marker until the rectangular white board of the rectangular white board markers in the image is difficult to.
Preferably, in the step (1), after the image is shot, 9 images which are easy to recognize by the rectangular whiteboard marker and are taken as experimental images, the images are subjected to binarization processing, the scattered small areas in the image are removed by using an expansion algorithm and a corrosion algorithm, then the total pixels of the rectangular whiteboard marker are counted, and the number of pixels of the side length of the rectangular whiteboard marker in the image is obtained according to the proportion of the rectangular whiteboard marker to the whiteboard.
Preferably, in the step (2), when the image is acquired, the height of the unmanned aerial vehicle is dynamically measured in real time when a preset rectangular white board marker is displayed in the image; and if the preset rectangular white board marker is not displayed, keeping the flying height of the unmanned aerial vehicle measured in the previous operation to continue to move ahead.
Preferably, after the image is preprocessed, the edge detection, binarization and threshold segmentation processing are performed on the region of the image where the rectangular whiteboard marker is located.
Preferably, the actual area of the rectangular whiteboard marker and the size of the pixels of the rectangular whiteboard marker in the image are measured, and the relational expression between the image pixels and the distance D is calculated according to the proportional relationship between the actual area of the rectangular whiteboard marker and the pixels of the rectangular whiteboard marker.
Preferably, the specification of the rectangular whiteboard marker is 1m × 1 m; the distance between the rectangular whiteboard markers is 50 cm.
The invention has the advantages that:
1. the method utilizes the original airborne camera (both visible light or multispectral camera) of the unmanned aerial vehicle, does not need to add any precise measurement equipment, calculates the relationship between the ground resolution and the flying height of the unmanned aerial vehicle and the relationship between the image pixel and the distance by the image analysis technology, and further calculates the relationship between the ground resolution and the flying height of the unmanned aerial vehicle by the two relationships and the relationship between the image pixel and the distance
The flight height of the unmanned aerial vehicle is calculated, so that the measuring method is simple and easy to implement, other equipment is not required to be added, the cost is low, the flight height of the unmanned aerial vehicle calculated by the method is accurate, and the requirements for accurate remote sensing image splicing and agricultural condition analysis in the later period can be met.
2. According to the invention, a plurality of rectangular white board markers are equidistantly placed at the target position point, and the same image obtained by shooting during the flight operation of the unmanned aerial vehicle can be analyzed, so that the operation is simple, the defects of complicated work, easiness in making mistakes and the like in calculating the flight height of the unmanned aerial vehicle by combining a plurality of images are avoided, and the error is reduced; and because the same image that contains a plurality of rectangle whiteboard markers is adopted to carry out the analysis, consequently calculate a plurality of unmanned aerial vehicle flying height, get the average with a plurality of unmanned aerial vehicle flying height again and obtain final unmanned aerial vehicle flying height, the unmanned aerial vehicle flying height error that obtains greatly has improved measuring accuracy.
3. According to the invention, the flight height of the unmanned aerial vehicle is dynamically measured in real time in a mode of conditionally placing a plurality of same rectangular white board markers, and the robustness and accuracy of the measurement effect are enhanced.
Drawings
FIG. 1 is a schematic diagram of a chart selected in step (1) according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of an image acquired according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of the height measurement relationship in the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring is disclosed, wherein the method can be implemented by using an original unmanned aerial vehicle-mounted camera without adding other equipment; in order to better illustrate the present invention, in this embodiment, the steps of the method are divided more finely; more specifically, it comprises the following steps:
the method comprises the following steps:
attaching a rectangular white board to a flat wall surface; the camera for acquiring the remote sensing image is far away from the rectangular white board to a distance which can shoot the rectangular white board into the image, the first image is shot at an angle vertical to the white board, the camera is far away from the white board at the same distance every time, the image is shot at an angle vertical to the white board after the camera is far away from the white board once, and the camera stops the far away and shooting until the rectangular white board in the image is difficult to see clearly.
Step two:
selecting 9 images which are easy to identify of the rectangular white board in a visual inspection mode as experimental images; carrying out binarization processing on the image, removing sporadic small areas in the image by using an expansion algorithm and a corrosion algorithm, then counting total pixels of the rectangular white board, and calculating the number of the white board side length pixels in the image according to the proportion of the white board; and fitting a relation curve between the ground resolution of the image and the shooting height of the image by using matlab software, thereby obtaining the corresponding relation between the ground pixel resolution g (unit mm/pixel) in the image and the flight height H (unit m) of the unmanned aerial vehicle.
Step three:
and setting target position points in the monitored field area, placing a plurality of rectangular white board markers with the same size in a preset range of the target position points, and keeping a certain distance between the rectangular white board markers.
In this embodiment, the specification of the selected rectangular whiteboard marker is 1m × 1m, so that when the unmanned aerial vehicle collects an image, a relational expression between image pixels (unit pixels) and an actual distance D (unit m) is obtained through the specification parameters of the rectangular whiteboard marker. A plurality of rectangle whiteboard markers are placed conditionally and are separated by a certain distance, on one hand, because the limitation of the region is carried out when the agricultural condition is monitored, on the other hand, the multipoint monitoring is carried out when the unmanned aerial vehicle is convenient to remotely sense the operation, and the height is dynamically measured in real time.
Step four:
after the unmanned aerial vehicle reaches a target point within a preset distance range of the target position point, the image of the target position point is collected.
In the invention, the position of a target point, a preset distance range of the target position point, a target point in the preset distance range and a flight path of an unmanned aerial vehicle are all preset before a test; then the unmanned aerial vehicle flies autonomously according to a set air route; when the preset rectangular white board marker is displayed in the image during collection, the height of the unmanned aerial vehicle is dynamically measured in real time, and if the preset rectangular white board marker is not displayed, the flying height of the unmanned aerial vehicle measured in the previous operation is kept to continue moving ahead.
Step five:
preprocessing the acquired image, performing edge detection, binarization and threshold segmentation on the region where the rectangular whiteboard marker is located in the image, extracting information of the ground pixel resolution occupied by the rectangular whiteboard marker in the image, and calculating to obtain a relational expression between the image pixel (unit pixel) and the distance D (unit m).
According to the invention, the relation between the image pixel (unit pixel) and the actual distance D (unit m) can be obtained through the proportional relation according to the actual area of the rectangular whiteboard marker and the size of the pixel of the rectangular whiteboard marker in the image.
Step six:
calculating to obtain the unmanned aerial vehicle camera position O according to the corresponding relation between the ground pixel resolution g (unit mm/pixel) and the unmanned aerial vehicle flight height H (unit m) acquired before the unmanned aerial vehicle flies and the ground pixel resolution occupied by each rectangular white board marker in the acquired imageaTo the center of each rectangular whiteboard marker1、O2、O3…OnIs actually a distance L1、L2、L3…LnThe actual distance between the current unmanned aerial vehicle and each rectangular whiteboard marker.
Step seven:
calculating the ground position O right below the unmanned aerial vehicle camera according to the same collected image in the sixth stepbAnd the central position O of each white board marker in the image1、O2、O3…OnThe ground position O under the unmanned aerial vehicle camera is obtained according to the relational expression of the image pixel (unit pixel) and the distance D (unit m)bAnd the central position O of each rectangular white board marker1、O2、O3…OnHorizontal distance D of1、D2、D3…Dn。
In the invention, the size of the rectangular whiteboard marker in the acquired image ignores the geometric deformation of the rectangular whiteboard marker. As shown in fig. 2, it is assumed that 4 rectangular white board markers are displayed in the image acquired at this time, and the centers of three of them are respectively denoted as O1、O2And O3The ground position O is arranged under the unmanned aerial vehicle camerabAcquiring a relational expression between image pixels (unit pixels) and a distance D (unit m) according to a preset rectangular whiteboard marker of 1m × 1m, and determining a ground position O right below the unmanned aerial vehicle camerabAnd the central position O of each rectangular white board marker in the image1、O2And O3The pixel difference value of the unmanned aerial vehicle camera is obtained, and the ground position O under the unmanned aerial vehicle camera is obtainedbAnd the central position O of each rectangular white board marker1、O2And O3Horizontal distance D of1、D2And D3。
Step eight:
FIG. 3 is a schematic diagram of the height measurement relationship of the present invention, wherein OaFor unmanned aerial vehicle camera position, ObFor the ground position under the unmanned aerial vehicle camera, OnIs the center position of the nth rectangular whiteboard marker. By geometric relationships of right triangles
According to the actual distance L1、L2、L3…LnAnd a horizontal distance D1、D2、D3…DnRespectively calculate the position O of the camera of the unmanned aerial vehicleaVertical distance H to ground1、H2、H3…HnAnd then obtaining the real-time unmanned aerial vehicle measurement height H ═ (H) through weighted average1+H2+H3+...+Hn)/n。
Step nine:
and (4) the unmanned aerial vehicle continuously flies forwards, repeating the fourth step, the fifth step, the sixth step, the seventh step and the eighth step, and measuring multiple groups of data to obtain a more accurate result. And the height value of the unmanned aerial vehicle is dynamically measured in real time.
The measuring method provided by the invention does not need to add any precise measuring equipment on the basis of the original airborne camera (both visible light or multispectral camera), improves the accuracy of the measuring height, and has lower cost.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (6)
1. The utility model provides a low-cost unmanned aerial vehicle height measurement method suitable for low latitude remote sensing monitoring of agricultural condition which characterized in that: the method comprises the following steps:
(1) selecting a plurality of rectangular white board markers with the same specification, attaching one rectangular white board marker to a flat wall surface, shooting a plurality of images at an angle vertical to the rectangular white board markers by using a camera of an image to be remotely sensed, selecting the image of the whole rectangular white board markers in the image as an experimental image, and fitting a relation curve between the ground resolution g of the image and the shooting height H of the image by using matlab software;
(2) setting a target position point, a preset distance range of the target position point, a target point in the preset distance range and an unmanned aerial vehicle flight route in a monitored field area, placing a plurality of rectangular white board markers in the preset distance range of the target position point at equal intervals, operating the unmanned aerial vehicle to fly to the target point in the preset distance range according to the set unmanned aerial vehicle flight route, and starting to acquire an image;
(3) preprocessing the image acquired in the step (2), then carrying out edge detection, binarization and threshold segmentation on the region where the rectangular whiteboard marker is located in the image, and calculating a relational expression between the image pixel and the distance D according to the proportional relation between the actual area of the rectangular whiteboard marker and the pixel size of the rectangular whiteboard marker in the image by measuring the actual area of the rectangular whiteboard marker and the pixel size of the rectangular whiteboard marker in the image;
(4) calculating to obtain the unmanned aerial vehicle camera position O according to the corresponding relation between the ground pixel resolution g and the unmanned aerial vehicle flight height H in the step (1) and the ground pixel resolution occupied by each rectangular white board marker in the acquired imageaTo the center of each rectangular whiteboard marker1、O2、O3ΛOnIs actually a distance L1、L2、L3ΛLnThe actual distance between the current unmanned aerial vehicle and each rectangular whiteboard marker is calculated;
(5) calculating the ground position O right below the unmanned aerial vehicle camera according to the same collected image in the step (4)bAnd the central position O of each rectangular white board marker in the image1、O2、O3ΛOnThe ground position O under the unmanned aerial vehicle camera is obtained according to the relational expression of the image pixel and the distance D in the step (3)bAnd the central position O of each rectangular white board marker1、O2、O3ΛOnHorizontal distance D of1、D2、D3ΛDn；
(6) By geometric relationships of right triangles
According to the actual distance L1、L2、L3ΛLnAnd a horizontal distance D1、D2、D3ΛDnRespectively calculate the position O of the camera of the unmanned aerial vehicleaVertical distance H to ground1、H2、H3ΛHnThen obtaining the real-time unmanned aerial vehicle measurement height through weighted average
2. The low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring according to claim 1, characterized in that: further comprising the step (7): and (5) enabling the unmanned aerial vehicle to continuously fly forwards, repeating the steps (3), (4), (5) and (6), and measuring multiple groups of data to obtain an accurate result.
3. The low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring according to claim 1, characterized in that: in the step (1), during shooting, shooting a first image at an angle perpendicular to the rectangular whiteboard marker from the distance from the camera to the distance capable of shooting the rectangular whiteboard marker into the image, then shooting a picture at the angle perpendicular to the rectangular whiteboard marker every time the camera is away from the rectangular whiteboard marker at the same distance, and shooting the picture at every distance until the rectangular whiteboard marker in the image is difficult to see, and stopping the shooting and the shooting.
4. The low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring according to claim 1, characterized in that: in the step (1), after the image is shot, 9 images which are easy to identify of the rectangular white board marker are selected as experimental images, binarization processing is carried out on the images, the expansion algorithm and the corrosion algorithm are used for removing sporadic small areas in the image, then the total pixels of the rectangular white board marker are counted, and the number of pixels of the side length of the rectangular white board marker in the image is calculated according to the proportion of the rectangular white board marker.
5. The low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring according to claim 1, characterized in that: in the step (2), when a preset rectangular white board marker is displayed in the image during image acquisition, the height of the unmanned aerial vehicle is dynamically measured in real time; and if the preset rectangular white board marker is not displayed, keeping the flying height of the unmanned aerial vehicle measured in the previous operation to continue to move ahead.
6. The low-cost unmanned aerial vehicle height measuring method suitable for agricultural condition low-altitude remote sensing monitoring according to claim 1, characterized in that: the specification of the rectangular white board marker is 1m multiplied by 1 m; the distance between the rectangular whiteboard markers is 50 cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083818.2A CN108416263B (en) | 2018-01-29 | 2018-01-29 | Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083818.2A CN108416263B (en) | 2018-01-29 | 2018-01-29 | Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108416263A CN108416263A (en) | 2018-08-17 |
| CN108416263B true CN108416263B (en) | 2020-09-01 |
Family
ID=63126572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810083818.2A Active CN108416263B (en) | 2018-01-29 | 2018-01-29 | Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108416263B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274574B (en) * | 2019-07-03 | 2021-07-06 | 广西科技大学 | Unmanned aerial vehicle height measurement system that opens umbrella |
| CN112154391A (en) * | 2019-07-31 | 2020-12-29 | 深圳市大疆创新科技有限公司 | Method for determining surrounding route, aerial photographing method, terminal, unmanned aerial vehicle and system |
| CN110986891B (en) * | 2019-12-06 | 2021-08-24 | 西北农林科技大学 | System for accurately and rapidly measuring crown width of tree by using unmanned aerial vehicle |
| CN112229478A (en) * | 2020-09-09 | 2021-01-15 | 广东韶钢工程技术有限公司 | Method and system for monitoring height change in process of material pile operation |
| CN112286213A (en) * | 2020-10-21 | 2021-01-29 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle hovering method and device, unmanned aerial vehicle and storage medium |
| CN113867389A (en) * | 2021-09-30 | 2021-12-31 | 广州极飞科技股份有限公司 | Unmanned aerial vehicle shooting control method, device, equipment and storage medium |
| CN114593715A (en) * | 2022-03-08 | 2022-06-07 | 广州翰南工程技术有限公司 | Remote high-precision displacement measurement method based on image processing |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828771A (en) * | 1995-12-15 | 1998-10-27 | Xerox Corporation | Method and article of manufacture for determining whether a scanned image is an original image or fax image |
| CN101126639A (en) * | 2007-09-18 | 2008-02-20 | 武汉大学 | Quick low altitude remote sensing image automatic matching and airborne triangulation method |
| CN101270993A (en) * | 2007-12-12 | 2008-09-24 | 北京航空航天大学 | Remote high-precision independent combined navigation locating method |
| CN101644762A (en) * | 2008-12-16 | 2010-02-10 | 中国科学院声学研究所 | Image-locating method of synthetic aperture sonar and system |
| CN102393238A (en) * | 2011-08-01 | 2012-03-28 | 高吉喜 | Grassland dry matter mass remote sensing estimating method |
| CN103499337A (en) * | 2013-09-26 | 2014-01-08 | 北京航空航天大学 | Vehicle-mounted monocular camera distance and height measuring device based on vertical target |
| US8816263B2 (en) * | 2011-04-20 | 2014-08-26 | Lester F. Ludwig | Vignetted planar spatial light-field sensor and spatial sampling designs for far-field lensless synthetic imaging via signal processing image formation |
| CN104298245A (en) * | 2014-08-06 | 2015-01-21 | 江苏恒创软件有限公司 | Method for monitoring growing state of forest trees based on unmanned aerial vehicle |
| CN204406210U (en) * | 2015-03-10 | 2015-06-17 | 无锡桑尼安科技有限公司 | Based on the UAV Landing location finding system of image procossing |
| CN105318845A (en) * | 2014-07-25 | 2016-02-10 | 株式会社三丰 | Method for measuring high accuracy height map of test surface |
| CN105373132A (en) * | 2015-11-26 | 2016-03-02 | 北京浩恒征途航空科技有限公司 | Low-altitude remote sensing system based on automatic cruise unmanned aerial vehicle and remote sensing method thereof |
| CN105657261A (en) * | 2015-12-30 | 2016-06-08 | 华南农业大学 | Unmanned aerial vehicle remote sensing image collection system and method based on Android device |
| CN106092136A (en) * | 2016-05-30 | 2016-11-09 | 凌云光技术集团有限责任公司 | A kind of method measuring certain height camera resolution |
| CN106411994A (en) * | 2016-06-28 | 2017-02-15 | 杨珊珊 | Image suggesting system based on shooting of unmanned aerial vehicle and image shooting method thereof |
| CN106643529A (en) * | 2016-09-30 | 2017-05-10 | 中国科学院、水利部成都山地灾害与环境研究所 | Rapid measuring method for growing height of agricultural crops in mountainous areas based on unmanned aerial vehicle photographed image |
| CN107504957A (en) * | 2017-07-12 | 2017-12-22 | 天津大学 | The method that three-dimensional terrain model structure is quickly carried out using unmanned plane multi-visual angle filming |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
-
2018
- 2018-01-29 CN CN201810083818.2A patent/CN108416263B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828771A (en) * | 1995-12-15 | 1998-10-27 | Xerox Corporation | Method and article of manufacture for determining whether a scanned image is an original image or fax image |
| CN101126639A (en) * | 2007-09-18 | 2008-02-20 | 武汉大学 | Quick low altitude remote sensing image automatic matching and airborne triangulation method |
| CN101270993A (en) * | 2007-12-12 | 2008-09-24 | 北京航空航天大学 | Remote high-precision independent combined navigation locating method |
| CN101644762A (en) * | 2008-12-16 | 2010-02-10 | 中国科学院声学研究所 | Image-locating method of synthetic aperture sonar and system |
| US8816263B2 (en) * | 2011-04-20 | 2014-08-26 | Lester F. Ludwig | Vignetted planar spatial light-field sensor and spatial sampling designs for far-field lensless synthetic imaging via signal processing image formation |
| CN102393238A (en) * | 2011-08-01 | 2012-03-28 | 高吉喜 | Grassland dry matter mass remote sensing estimating method |
| CN103499337A (en) * | 2013-09-26 | 2014-01-08 | 北京航空航天大学 | Vehicle-mounted monocular camera distance and height measuring device based on vertical target |
| CN105318845A (en) * | 2014-07-25 | 2016-02-10 | 株式会社三丰 | Method for measuring high accuracy height map of test surface |
| CN104298245A (en) * | 2014-08-06 | 2015-01-21 | 江苏恒创软件有限公司 | Method for monitoring growing state of forest trees based on unmanned aerial vehicle |
| CN204406210U (en) * | 2015-03-10 | 2015-06-17 | 无锡桑尼安科技有限公司 | Based on the UAV Landing location finding system of image procossing |
| CN105373132A (en) * | 2015-11-26 | 2016-03-02 | 北京浩恒征途航空科技有限公司 | Low-altitude remote sensing system based on automatic cruise unmanned aerial vehicle and remote sensing method thereof |
| CN105657261A (en) * | 2015-12-30 | 2016-06-08 | 华南农业大学 | Unmanned aerial vehicle remote sensing image collection system and method based on Android device |
| CN106092136A (en) * | 2016-05-30 | 2016-11-09 | 凌云光技术集团有限责任公司 | A kind of method measuring certain height camera resolution |
| CN106411994A (en) * | 2016-06-28 | 2017-02-15 | 杨珊珊 | Image suggesting system based on shooting of unmanned aerial vehicle and image shooting method thereof |
| CN106643529A (en) * | 2016-09-30 | 2017-05-10 | 中国科学院、水利部成都山地灾害与环境研究所 | Rapid measuring method for growing height of agricultural crops in mountainous areas based on unmanned aerial vehicle photographed image |
| CN107504957A (en) * | 2017-07-12 | 2017-12-22 | 天津大学 | The method that three-dimensional terrain model structure is quickly carried out using unmanned plane multi-visual angle filming |
| CN107613248A (en) * | 2017-09-07 | 2018-01-19 | 湖南茂劲信息科技有限公司 | Monitoring unmanned system and method based on BIM |
Non-Patent Citations (3)
| Title |
|---|
| Assessment of unmanned aerial vehicles imagery for quantitative monitoring of wheat crop in small plots;Burger P等;《Sensors》;20081231;第8卷(第5期);第3557-3585页 * |
| 四旋翼无人机定高飞行控制系统研究;邱鹏瑞等;《计算机产品与流通》;20171115;第143页 * |
| 基于微小型无人机的遥感信息获取关键技术综述;汪沛等;《农业工程学报》;20140923;第30卷(第18期);第1-12页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108416263A (en) | 2018-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108416263B (en) | Low-cost unmanned aerial vehicle height measurement method suitable for agricultural condition low-altitude remote sensing monitoring | |
| CN112525162B (en) | System and method for measuring image distance of power transmission line by unmanned aerial vehicle | |
| CN106441233B (en) | Power channel corridor method for inspecting based on oblique photograph three-dimensional reconstruction | |
| CN104215239B (en) | Guidance method using vision-based autonomous unmanned plane landing guidance device | |
| CN104197928B (en) | Multi-camera collaboration-based method for detecting, positioning and tracking unmanned aerial vehicle | |
| KR100795396B1 (en) | Method for monitoring altered city using airborne laser surveying data and digital orthophoto | |
| CN106645205A (en) | Unmanned aerial vehicle bridge bottom surface crack detection method and system | |
| CN109813335B (en) | Calibration method, device and system of data acquisition system and storage medium | |
| CN112147633A (en) | Power line safety distance detection method | |
| CN104298245A (en) | Method for monitoring growing state of forest trees based on unmanned aerial vehicle | |
| CN109032174B (en) | Unmanned aerial vehicle operation route planning method and operation execution method | |
| CN101532841A (en) | Method for navigating and positioning aerocraft based on landmark capturing and tracking | |
| CN106597416A (en) | Ground-GPS-assisted method for correcting error of difference of elevation of LiDAR data | |
| US20200162724A1 (en) | System and method for camera commissioning beacons | |
| EP3023912A1 (en) | Crack data collection apparatus and server apparatus to collect crack data | |
| US20040236535A1 (en) | Method, apparatus and program for determining growth of trees | |
| CN106292717B (en) | A kind of full-automatic information acquisition aircraft | |
| CN111189433A (en) | Karst peak forest landform parameter measuring method based on unmanned aerial vehicle aerial photography | |
| CN107607091A (en) | A kind of method for measuring unmanned plane during flying flight path | |
| Mirko et al. | Assessing the Impact of the Number of GCPS on the Accuracy of Photogrammetric Mapping from UAV Imagery | |
| CN114820793A (en) | Target detection and target point positioning method and system based on unmanned aerial vehicle | |
| CN111508020A (en) | Cable three-dimensional position calculation method and device fusing image and laser radar | |
| CN108050995B (en) | Oblique photography non-image control point aerial photography measurement area merging method based on DEM | |
| Al-Rawabdeh et al. | A robust registration algorithm for point clouds from UAV images for change detection | |
| Rebelo et al. | Building 3D city models: Testing and comparing Laser scanning and low-cost UAV data using FOSS technologies |
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 |