CN108957440A - A kind of unmanned plane radar equipment based on improvement FAST-SURF algorithm - Google Patents
A kind of unmanned plane radar equipment based on improvement FAST-SURF algorithm Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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- 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
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Abstract
The present invention is claimed a kind of based on the unmanned plane radar equipment for improving FAST-SURF algorithm, it includes shell, antenna, USB interface, power module, signal generating unit, signal transmitting and receiving module, signal amplification module, signal conversion module, microprocessor module, execution module, drive module and communication module, shown power module is connected with USB interface, signal transmitting and receiving module is connected with signal amplification module, signal amplification module is connected with signal conversion module, signal conversion module is connected with microprocessor module, microprocessor module is connected with execution module, execution module is connected with drive module and communication module, the signal generating unit is configurable to generate trailer-mounted radar signal, and it is sent to signal amplification module and carries out signal amplification, and emitted by signal transmitting and receiving module, the signal transmitting and receiving mould Block is also used to receive the external radar signal sent；Signal transmitting and receiving module is connected with signal amplification module, and signal amplification module is connected with signal conversion module, and signal conversion module is connected with microprocessor module, and microprocessor module is connected with execution module.
Description
Technical field
The invention belongs to radar equipment technical field more particularly to a kind of unmanned plane radar equipments.
Background technique
With the raising of unmanned air vehicle technique, increasingly cheaper cost, so that more and more fans have purchase
It may.Currently, Ground Penetrating Radar is mostly cart type or pull-alongs, they are widely used in various near surfaces and detect it
In, it has many advantages, such as that high-resolution, non-destructive, high efficiency, jamproof ability are strong, detection target is extensive.But they are big
Smooth or paved road is confined to, in the special out-of-flatness in region, ground and big rise and fall area for encountering the serious bedding of vegetation more
The danger zone that domain and the mankind can not reach, then existing cart type or pull-alongs Ground Penetrating Radar is then bad is detected,
Need to clear up roadblock before not only detecting at this time, but also some places are excessively dangerous and cannot arrive at the destination, so existing spy
Ground radar can not realize above-mentioned detection target, moreover, existing cart type or pull-alongs are due to needing operator's conduct
Power is advanced, so the inefficiency of detection, and detection process moderately gusty air vibration etc. will cause interference, make detection result
And it is accurate.The presence of miller capacitance has seriously affected the stability of transistor.It is existing in order to make transistor meet stable condition
Technology is usually used: a) capacitance-resistance feed circuit；B) series resistance or parallel resistance are inputted.But the defect of both technologies is
The maximum available power gain of transistor can be reduced.
Summary of the invention
Present invention seek to address that the above problem of the prior art.It proposes a kind of raising degree of safety, improve power gain
A kind of unmanned plane radar equipment based on improvement FAST-SURF algorithm.
Technical scheme is as follows:
A kind of unmanned plane radar equipment based on improvement FAST-SURF algorithm comprising shell, antenna, USB interface, electricity
Source module, signal generating unit, signal transmitting and receiving module, signal amplification module, signal conversion module, microprocessor module, execution
Module, drive module and communication module, shown power module are connected with USB interface, signal transmitting and receiving module and signal amplification module
It is connected, signal amplification module is connected with signal conversion module, and signal conversion module is connected with microprocessor module, microprocessor mould
Block is connected with execution module, and execution module is connected with drive module and communication module, and the signal generating unit is configured to make a living
At trailer-mounted radar signal, and it is sent to signal amplification module and carries out signal amplification, and emitted by signal transmitting and receiving module, institute
It states signal transmitting and receiving module and is also used to receive the external radar signal sent；Signal transmitting and receiving module is connected with signal amplification module,
Signal amplification module is connected with signal conversion module, and signal conversion module is connected with microprocessor module, microprocessor module with
Execution module is connected, and execution module is connected with drive module and communication module, and the power module is connected with USB interface；It is described
Signal amplification module is a high-gain very high frequency band power amplifier, the high-gain very high frequency band power amplifier packet
It includes: input terminal matching network, the first pseudo-differential common-source amplifier, the second pseudo-differential common-source amplifier, inter-stage matching network, output
Matching network and ohmic load use X-type between the first pseudo-differential common-source amplifier and the second pseudo-differential common-source amplifier
Cross-mixing coupled capacitor, the output end of the input terminal connection signal generating unit of the input terminal matching network, the input
The output end of matching network connects the input terminal of the first pseudo-differential common-source amplifier, the output end of the first pseudo-differential common-source amplifier
The input terminal of inter-stage matching network is connected, the output of inter-stage matching network terminates the input terminal of the second pseudo-differential common-source amplifier,
The output end of second pseudo-differential common-source amplifier connects load after passing through output matching network, and the input terminal matching network is used for
Realize input matching, the first pseudo-differential common-source amplifier is for improving circuit gain, and the second pseudo-differential common-source amplifier is for real
It now exports, inter-stage matching network is for realizing conjugate impedance match, and output matching network is for realizing optimum load impedance matching, and height
Ohmic load is for connecting bias voltage；The structure of the first pseudo-differential common-source amplifier and the second pseudo-differential common-source amplifier
Equally, each pseudo-differential common-source amplifier respectively includes the first transistor M1, second transistor M2, first capacitor CC1, second
The source electrode of capacitor CC2, the first transistor M1 and second transistor M2 link together, and the first capacitor CC1 is connected across
The drain electrode of the grid and the first transistor MI of second transistor M2, the second capacitor CC2 be connected across the first transistor Ml grid and
The drain electrode of second transistor M2, signal is inputted from the grid of the first transistor M1 and second transistor M2, from the first transistor M1
Drain electrode with second transistor M2 exports；The receiver optimizes positioning using improved FAST-SURF algorithm, is determined
The accurate V-band signal in position；The reception signal of signal transmitting and receiving module is carried out to obtain image geographical location, then using improved
FAST algorithm carries out preliminary treatment, obtains characteristic point；Improved FAST algorithm improvement is mainly reflected in: will test of contrast points
Number is reduced to 12 by 16, accelerates the speed of detection；According to obtained characteristic point, target area is carried out using SURF algorithm special
The matching and screening of sign point pair；According to obtained matching pair, multiple groups are obtained to screening to matching using RANSAC algorithm
Characteristic matching point pair；According to obtained multiple groups characteristic matching point pair, the three-dimensional of point is calculated using triangulation algorithm and is sat
Mark is accurately positioned object dimensional coordinate；Further include temperature-sensing device, with output end and is arranged in its output end
Output signal is generated, the output end of the temperature-sensing device is connected with transmitter, and the output signal includes the thunder
Up at least part of temperature of equipment, the output end Coupled Feedback of temperature sensor to the signal generating unit, wherein institute
It states signal generating unit and is configured as the output power when the output signal indicates temperature in the first temperature range
It is the first power, and the temperature when institute when output signal instruction within the scope of the second temperature for being higher than the first temperature range
State the second power that output power is less than the first power.
Further, the first transistor M1 is as the parameter of second transistor M2, the first capacitor CC1,
The capacitance of two capacitor CC1 is the same, bridges the capacitance structure of composition as in cross coupling capacitor and structure using this；The input terminal
Matching network includes: two capacitance Cin and inductance L；Two capacitance Cin capacitances are equal, by adjust inductance L and
The value of capacitor Cin makes input impedance be purely real.
Further, described that preliminary treatment is carried out using improved FAST algorithm, it obtains characteristic point and specifically includes step:
FAST algorithm: it is the center of circle that a pixel P is chosen from picture, and radius is the Bresenhan of the discretization of 3 pixels
Circle, there are 16 pixels on round boundary；
The improvement of FAST algorithm
16 pixels compared with surrounding are reduced to 12 pixels, detection principle is that continuous 9 pixels all compare Ip+
T is big or compares Ip- t is small, then the pixel is characterized a candidate point；
The gray value difference of the gray value and candidate point of a circle pixel around point to be detected is enough big, it is believed that this
A candidate point is a characteristic point；
Non-maxima suppression is carried out to characteristic point, obtains characteristic point output.
Further, the antenna is multistage folded doublet, is horizontally set on radar equipment lower end after hand foldable
Face；The microprocessor module uses STM32 singlechip microprocessor.
Further, the matching pair that the basis obtains specifically includes matching to screening is carried out using RANSAC algorithm
Step:
It extracts four sample datas out at random from data set, calculates transformation matrix, be denoted as M；It calculates in data set and owns
Interior point set I is added if error is less than threshold value in the projection error of data and model M；If point set I element number is greater than u in current
Interior point set I_best, then update I_best=I；The number of iterations k is updated simultaneously；If the number of iterations is greater than k, then exit；Otherwise
The number of iterations adds 1, and repeats the above steps.
Beneficial effects of the present invention
The present invention between signal generating unit and signal conversion unit by being provided with a high-gain very high frequency band
Power amplifier passes through the first pseudo-differential common-source amplifier while adequately achieving the power increase to radar emission signal
And second use X-type cross hybrid coupled capacitor between pseudo-differential common-source amplifier, there is no the maximum for reducing transistor is available
Power gain, the input terminal matching network is for realizing input matching, and the first pseudo-differential common-source amplifier is for improving circuit
Gain, the second pseudo-differential common-source amplifier export pair net for realizing output, inter-stage matching network for realizing conjugate impedance match
Network matches for realizing optimum load impedance and high-resistance load is for connecting bias voltage；The receiver is using improved
FAST-SURF algorithm optimizes positioning, obtains the V-band signal of accurate positioning；The reception signal of receiver is obtained
Then image geographical location carries out preliminary treatment using improved FAST algorithm, obtains characteristic point；Improved FAST algorithm improvement
Be mainly reflected in: the number that will test contrast points is reduced to 12 by 16, accelerates the speed of detection；According to obtained characteristic point,
The matching and screening of characteristic point pair are carried out to target area using SURF algorithm；According to obtained matching pair, RANSAC is used
Algorithm, to screening, obtains multiple groups characteristic matching point pair to matching；According to obtained multiple groups characteristic matching point pair, triangle is utilized
Shape Measurement Algorithm calculates the three-dimensional coordinate of point, is accurately positioned object dimensional coordinate；It further include temperature-sensing device, output letter
It number include at least part of temperature of the radar equipment, the output end Coupled Feedback of temperature sensor is sent out to the signal
Raw unit, realizes the feedback equalization of dynamic regulation and signal, wherein the signal generating unit is configured as when the output
The output power is the first power when signal designation temperature in the first temperature range, and when the output signal indicates
The output power is less than the second function of the first power when temperature within the scope of the second temperature for being higher than the first temperature range
Rate；When being higher by second temperature, then stop the generation of radar signal, it can be to avoid the equipment operation irregularity in the case of excess temperature.It adopts
It is designed with two-stage pseudo-differential common source configuration, compared to single port power amplifier, output power is bigger.Power gain is high.Due to
The present invention uses in cross coupling capacitor and technology, capacitor Cc1, Cc2 is introduced, the case where not increasing circuit work influence power consumption
Under can be improved the power gain of difference amplifier.Circuit stability is high, and isolation is good.Since the present invention is using cross-coupling electricity
Hold neutralization technology, introduces capacitor Cc1, Cc2, can effectively overcome the problems, such as that the Miller effect bring is unstable.
Detailed description of the invention
Fig. 1 is the unmanned plane radar equipment structural schematic diagram that the present invention provides that preferred embodiment improves FAST-SURF algorithm；
Fig. 2 is high-gain very high frequency band power amplifier circuit schematic diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, detailed
Carefully describe.Described embodiment is only a part of the embodiments of the present invention.
The technical solution that the present invention solves above-mentioned technical problem is:
As shown in Figure 1 for it is a kind of based on improve FAST-SURF algorithm unmanned plane radar equipment comprising shell, antenna,
USB interface, power module, signal generating unit, signal transmitting and receiving module, signal amplification module, signal conversion module, microprocessor
Module, execution module, drive module and communication module, it is the signal generating unit, number amplification module, signal conversion module, micro-
Processor module, execution module, drive module and communication module are all set in shell, and antenna and USB interface are set to shell
Outside, the power module is connected with USB interface, and signal transmitting and receiving module is connected with signal amplification module, signal amplification module and letter
Number conversion module is connected, and signal conversion module is connected with microprocessor module, and microprocessor module is connected with execution module, execution
Module is connected with drive module and communication module, and the signal generating unit is configurable to generate trailer-mounted radar signal, and sends
Signal amplification is carried out to signal amplification module, and is emitted by signal transmitting and receiving module, the signal transmitting and receiving module is also used to
Receive the external radar signal sent；Signal transmitting and receiving module is connected with signal amplification module, and signal amplification module and signal turn
It changes the mold block to be connected, signal conversion module is connected with microprocessor module, and microprocessor module is connected with execution module, execution module
It is connected with drive module and communication module, the power module is connected with USB interface；The signal amplification module is one high increases
Beneficial very high frequency band power amplifier, the high-gain very high frequency band power amplifier include: input terminal matching network, first
Pseudo-differential common-source amplifier, the second pseudo-differential common-source amplifier, inter-stage matching network, output matching network and ohmic load, institute
It states using X-type cross hybrid coupled capacitor between the first pseudo-differential common-source amplifier and the second pseudo-differential common-source amplifier, it is described
The output end of the input terminal connection signal generating unit of input terminal matching network, the output end connection the of the input matching network
The input terminal of one pseudo-differential common-source amplifier, the input of the output end connection inter-stage matching network of the first pseudo-differential common-source amplifier
End, the input terminal of output the second pseudo-differential common-source amplifier of termination of inter-stage matching network, the second pseudo-differential common-source amplifier
Output end connects load after passing through output matching network, and the input terminal matching network is for realizing input matching, the first artifact
Common-source amplifier is divided to use for improving circuit gain, the second pseudo-differential common-source amplifier for realizing output, inter-stage matching network
In realizing conjugate impedance match, output matching network matches for realizing optimum load impedance and high-resistance load is for connecting biasing
Voltage；The structure of the first pseudo-differential common-source amplifier and the second pseudo-differential common-source amplifier is the same, each pseudo-differential is total
Source amplifier respectively includes the first transistor M1, second transistor M2, first capacitor CC1, the second capacitor CC2, and described first is brilliant
The source electrode of body pipe M1 and second transistor M2 link together, and the first capacitor CC1 is connected across the grid of second transistor M2
With the drain electrode of the first transistor MI, the second capacitor CC2 is connected across the drain electrode of the grid and second transistor M2 of the first transistor Ml,
Signal is inputted from the grid of the first transistor M1 and second transistor M2, from the drain electrode of the first transistor M1 and second transistor M2
Output；The signal transmitting and receiving module optimizes positioning using improved FAST-SURF algorithm, obtains the V of target accurate positioning
Band signal；The reception signal of signal transmitting and receiving module is carried out to obtain image geographical location, then uses improved FAST algorithm
Preliminary treatment is carried out, characteristic point is obtained；Improved FAST algorithm improvement is mainly reflected in: will test the number of contrast points by 16
12 are reduced to, the speed of detection is accelerated；According to obtained characteristic point, characteristic point pair is carried out to target area using SURF algorithm
Matching and screening；According to obtained matching pair, multiple groups characteristic matching is obtained to screening to matching using RANSAC algorithm
Point pair；According to obtained multiple groups characteristic matching point pair, the three-dimensional coordinate of point is calculated using triangulation algorithm, it is accurate fixed
Position object dimensional coordinate；Further include temperature-sensing device, with output end and is arranged to generate output in its output end
The output end of signal, the temperature-sensing device is connected with transmitter, and the output signal includes the radar equipment
At least part of temperature, the output end Coupled Feedback of temperature sensor is to the signal generating unit, wherein the signal is sent out
It is the first function that raw unit, which is configured as the output power when the output signal indicates temperature in the first temperature range,
Rate, and the output work when the output signal indicates the temperature within the scope of the second temperature for being higher than the first temperature range
Rate is less than the second power of the first power.
Preferably, the first transistor M1 is as the parameter of second transistor M2, the first capacitor CC1, second
The capacitance of capacitor CC1 is the same, bridges the capacitance structure of composition as in cross coupling capacitor and structure using this；The input terminal
Distribution network includes: two capacitance Cin and inductance L；Two capacitance Cin capacitances are equal, by adjusting inductance L and electricity
The value for holding Cin makes input impedance be purely real.
Preferably, described that preliminary treatment is carried out using improved FAST algorithm, it obtains characteristic point and specifically includes step:
FAST algorithm: it is the center of circle that a pixel P is chosen from picture, and radius is the Bresenhan of the discretization of 3 pixels
Circle, there are 16 pixels on round boundary；
The improvement of FAST algorithm
16 pixels compared with surrounding are reduced to 12 pixels, detection principle is that continuous 9 pixels all compare Ip+
T is big or compares Ip- t is small, then the pixel is characterized a candidate point；
The gray value difference of the gray value and candidate point of a circle pixel around point to be detected is enough big, it is believed that this
A candidate point is a characteristic point；
Non-maxima suppression is carried out to characteristic point, obtains characteristic point output.
Preferably, the antenna is multistage folded doublet, is horizontally set on radar equipment lower end surface after hand foldable；
The microprocessor module uses STM32 singlechip microprocessor.
Preferably, the matching pair that the basis obtains specifically includes step to screening is carried out to matching using RANSAC algorithm
It is rapid:
It extracts four sample datas out at random from data set, calculates transformation matrix, be denoted as M；It calculates in data set and owns
Interior point set I is added if error is less than threshold value in the projection error of data and model M；If point set I element number is greater than u in current
Interior point set I_best, then update I_best=I；The number of iterations k is updated simultaneously；If the number of iterations is greater than k, then exit；Otherwise
The number of iterations adds 1, and repeats the above steps.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (5)
1. a kind of based on the unmanned plane radar equipment for improving FAST-SURF algorithm, which is characterized in that including shell, antenna, USB
Interface, power module, signal generating unit, signal transmitting and receiving module, signal amplification module, signal conversion module, microprocessor mould
Block, execution module, drive module and communication module, shown power module are connected with USB interface, and signal transmitting and receiving module is put with signal
Big module is connected, and signal amplification module is connected with signal conversion module, and signal conversion module is connected with microprocessor module, micro- place
Reason device module is connected with execution module, and execution module is connected with drive module and communication module, and the signal generating unit is matched
It is set to and generates trailer-mounted radar signal, and be sent to signal amplification module and carry out signal amplification, and carried out by signal transmitting and receiving module
Transmitting, the signal transmitting and receiving module are also used to receive the external radar signal sent；Signal transmitting and receiving module and signal amplify mould
Block is connected, and signal amplification module is connected with signal conversion module, and signal conversion module is connected with microprocessor module, microprocessor
Module is connected with execution module, and execution module is connected with drive module and communication module, the power module and USB interface phase
Even；The signal amplification module is a high-gain very high frequency band power amplifier, the high-gain very high frequency band power
Amplifier includes: input terminal matching network, the first pseudo-differential common-source amplifier, the second pseudo-differential common-source amplifier, interstage matched
Network, output matching network and ohmic load, the first pseudo-differential common-source amplifier and the second pseudo-differential common-source amplifier it
Between use X-type cross hybrid coupled capacitor, the output end of the input terminal connection signal generating unit of the input terminal matching network,
The output end of the input matching network connects the input terminal of the first pseudo-differential common-source amplifier, the first pseudo-differential common-source amplifier
Output end connection inter-stage matching network input terminal, the output second pseudo-differential common-source amplifier of termination of inter-stage matching network
Input terminal, the output end of the second pseudo-differential common-source amplifier is by connecting load, the input terminal matching after output matching network
Network is for realizing input matching, and the first pseudo-differential common-source amplifier is for improving circuit gain, the amplification of the second pseudo-differential common source
Device is for realizing output, and inter-stage matching network is for realizing conjugate impedance match, and output matching network is for realizing optimum load impedance
Matching and high-resistance load are for connecting bias voltage；The first pseudo-differential common-source amplifier and the second pseudo-differential common source are put
The structure of big device is the same, each pseudo-differential common-source amplifier respectively includes the first transistor M1, second transistor M2, the first electricity
Hold CC1, the source electrode of the second capacitor CC2, the first transistor M1 and second transistor M2 links together, the first capacitor
CC1 is connected across the drain electrode of the grid and the first transistor MI of second transistor M2, and the second capacitor CC2 is connected across the first transistor Ml
Grid and second transistor M2 drain electrode, signal from the grid of the first transistor M1 and second transistor M2 input, from first
The drain electrode of transistor M1 and second transistor M2 export；The signal transmitting and receiving module is carried out using improved FAST-SURF algorithm
Optimum position obtains the V-band signal of target accurate positioning；The reception signal of signal transmitting and receiving module is carried out to obtain image geography
Then position carries out preliminary treatment using improved FAST algorithm, obtains characteristic point；Improved FAST algorithm improvement major embodiment
: the number that will test contrast points is reduced to 12 by 16, accelerates the speed of detection；According to obtained characteristic point, SURF is used
Algorithm carries out the matching and screening of characteristic point pair to target area；According to obtained matching pair, using RANSAC algorithm to
Pairing is screened, and multiple groups characteristic matching point pair is obtained；According to obtained multiple groups characteristic matching point pair, calculated using triangulation
Method calculates the three-dimensional coordinate of point, is accurately positioned object dimensional coordinate；It further include temperature-sensing device, simultaneously with output end
And be arranged to generate output signal in its output end, the output end of the temperature-sensing device is connected with transmitter, described
Output signal includes at least part of temperature of the radar equipment, and the output end Coupled Feedback of temperature sensor is described in
Signal generating unit, wherein the signal generating unit is configured as indicating in the first temperature range when the output signal
The output power is the first power when temperature, and when output signal instruction is in the second temperature for being higher than the first temperature range
The output power is less than the second power of the first power when the temperature spent in range.
2. according to claim 1 based on the unmanned plane radar equipment for improving FAST-SURF algorithm, which is characterized in that institute
The first transistor M1 is stated as the parameter of second transistor M2, the capacitance one of the first capacitor CC1, the second capacitor CC1
Sample bridges the capacitance structure of composition as in cross coupling capacitor and structure using this；The input terminal matching network include: two every
Straight capacitor Cin and inductance L；Two capacitance Cin capacitances are equal, and the value by adjusting inductance L and capacitor Cin to input
Impedance is purely real.
3. according to claim 1 based on the unmanned plane radar equipment for improving FAST-SURF algorithm, which is characterized in that institute
It states the improved FAST algorithm of the use and carries out preliminary treatment, obtain characteristic point and specifically include step:
FAST algorithm: it is the center of circle that a pixel P is chosen from picture, and radius is the Bresenhan circle of the discretization of 3 pixels,
There are 16 pixels on round boundary；
The improvement of FAST algorithm
16 pixels compared with surrounding are reduced to 12 pixels, detection principle is that continuous 9 pixels all compare Ip+ t it is big or
Person's ratio Ip- t is small, then the pixel is characterized a candidate point；
The gray value difference of the gray value and candidate point of a circle pixel around point to be detected is enough big, it is believed that this time
Reconnaissance is a characteristic point；
Non-maxima suppression is carried out to characteristic point, obtains characteristic point output.
4. according to claim 1 based on the unmanned plane radar equipment for improving FAST-SURF algorithm, which is characterized in that institute
The antenna stated is multistage folded doublet, is horizontally set on radar equipment lower end surface after hand foldable；The microprocessor module
Using STM32 singlechip microprocessor.
5. according to claim 1 based on the unmanned plane radar equipment for improving FAST-SURF algorithm, which is characterized in that institute
It states according to obtained matching pair, step is specifically included to screening is carried out to matching using RANSAC algorithm:
It extracts four sample datas out at random from data set, calculates transformation matrix, be denoted as M；Calculate all data in data set
Interior point set I is added if error is less than threshold value with the projection error of model M；If point set I element number is greater than point in u in current
Collect I_best, then updates I_best=I；The number of iterations k is updated simultaneously；If the number of iterations is greater than k, then exit；Otherwise iteration
Number adds 1, and repeats the above steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416962.3A CN108957440B (en) | 2018-05-04 | 2018-05-04 | Unmanned aerial vehicle radar equipment based on improved FAST-SURF algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416962.3A CN108957440B (en) | 2018-05-04 | 2018-05-04 | Unmanned aerial vehicle radar equipment based on improved FAST-SURF algorithm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108957440A true CN108957440A (en) | 2018-12-07 |
| CN108957440B CN108957440B (en) | 2022-01-04 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102104362A (en) * | 2011-03-01 | 2011-06-22 | 北京大学 | Millimeter-wave frequency multiplier and cascaded frequency multipliers |
| CN103095230A (en) * | 2012-12-31 | 2013-05-08 | 东南大学 | High-gain and high-power millimeter wave power amplifier |
| CN105678307A (en) * | 2016-01-11 | 2016-06-15 | 河海大学 | Mobile terminal real-time characteristic detection and matching method based on FAST-SURF |
| US20160178729A1 (en) * | 2014-01-10 | 2016-06-23 | Raytheon Company | Detection of stealth vehicles using vhf radar |
| CN107784263A (en) * | 2017-04-28 | 2018-03-09 | 新疆大学 | Based on the method for improving the Plane Rotation Face datection for accelerating robust features |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102104362A (en) * | 2011-03-01 | 2011-06-22 | 北京大学 | Millimeter-wave frequency multiplier and cascaded frequency multipliers |
| CN103095230A (en) * | 2012-12-31 | 2013-05-08 | 东南大学 | High-gain and high-power millimeter wave power amplifier |
| US20160178729A1 (en) * | 2014-01-10 | 2016-06-23 | Raytheon Company | Detection of stealth vehicles using vhf radar |
| CN105678307A (en) * | 2016-01-11 | 2016-06-15 | 河海大学 | Mobile terminal real-time characteristic detection and matching method based on FAST-SURF |
| CN107784263A (en) * | 2017-04-28 | 2018-03-09 | 新疆大学 | Based on the method for improving the Plane Rotation Face datection for accelerating robust features |
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| CN108957440B (en) | 2022-01-04 |
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