CN108981705B - Positioning reference device - Google Patents
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- CN108981705B CN108981705B CN201810798918.3A CN201810798918A CN108981705B CN 108981705 B CN108981705 B CN 108981705B CN 201810798918 A CN201810798918 A CN 201810798918A CN 108981705 B CN108981705 B CN 108981705B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
The present application provides a positioning reference device, one embodiment of the device comprising: for at least one plane of the device, a positioning reference area is arranged on the plane, a plurality of image identifiers are arranged in the positioning reference area, and the image identifiers are not overlapped with each other; the image identifier comprises a first image identifier and a second image identifier, the second image identifier is arranged at the center of the positioning reference area, and the first image identifier is arranged around the second image identifier; in the plurality of image identifications, the area of the first image identification is the largest, and the area of the second image identification is the smallest. The embodiment improves the robustness of long-distance positioning, improves the robustness of short-distance positioning, and improves the efficiency and accuracy of positioning.
Description
Technical Field
The application relates to the technical field of navigation and positioning, in particular to a positioning reference device.
Background
Currently, with the widespread popularization of unmanned intelligent devices (e.g., robots, unmanned vehicles, unmanned aerial vehicles, etc.), navigation positioning technology becomes more and more important. Unmanned smart devices generally need to be positioned with reference to markers for accurate docking/delivery. In the case of a drone, an object with an image marker is currently used as a reference marker. However, when the unmanned aerial vehicle is positioned, the influence factors on the robustness are different between the case of being far away from the reference marker and the case of being near to the reference marker, and therefore, the requirement on the robustness of positioning under the two cases is difficult to be met simultaneously.
Disclosure of Invention
In order to solve one of the above technical problems, the present application provides a positioning reference device.
According to a first aspect of embodiments of the present application, there is provided a positioning reference device, including:
for at least one plane of the device, a positioning reference area is arranged on the plane, a plurality of image identifiers are arranged in the positioning reference area, and the image identifiers are not overlapped with each other;
the plurality of image identifications comprise a first image identification and a second image identification, the second image identification is arranged at the center of the positioning reference area, and the first image identification is arranged around the second image identification; in the plurality of image identifications, the area of the first image identification is the largest, and the area of the second image identification is the smallest.
Optionally, the positioning reference region is rectangular, and the first image identifier is respectively disposed in position regions corresponding to four vertex angles of the positioning reference region.
Optionally, the image identifier further includes a third image identifier, the third image identifier is disposed between the adjacent first image identifiers and near the edge of the positioning reference region, and an area of the third image identifier is smaller than an area of the first image identifier and is greater than or equal to an area of the second image identifier.
Optionally, the image identifier further includes a fourth image identifier, at least one fourth image identifier is disposed between the third image identifier and the second image identifier, an area of the fourth image identifier is smaller than or equal to an area of the third image identifier, and an area of the fourth image identifier is larger than or equal to an area of the second image identifier.
Optionally, the plurality of image signatures are distributed in the localization reference region in a central symmetry.
Optionally, the positioning reference area is a regular quadrangle.
Optionally, the distribution of the plurality of image signatures in the localization reference region is symmetric with respect to both diagonals of the localization reference region.
Optionally, the image identifier includes one or more of:
color block identification;
a bar code identification;
identifying a two-dimensional code;
an icon identification;
identifying a machine code;
character identification;
and (5) line characteristic identification.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the positioning reference device provided by the embodiment of the application, the image identifier with the minimum area is arranged at the center of the reference area on the plane of the positioning reference device, and the image identifier with the maximum area is arranged around the center of the reference area, so that the robustness of remote positioning is improved, the robustness of close-range positioning is also improved, and the positioning efficiency and accuracy are also improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIGS. 1A-1C are schematic illustrations of a positioning reference device according to an exemplary embodiment of the present application;
FIGS. 2A-2B are schematic illustrations of another positioning reference device shown in the present application according to an exemplary embodiment;
3A-3D are schematic diagrams of another positioning reference device illustrated in accordance with an exemplary embodiment of the present application;
FIG. 4 is a schematic illustration of a distribution of image markers in a location reference area shown in the present application according to an exemplary embodiment;
FIG. 5 is a flow chart illustrating a method for positioning according to an exemplary embodiment of the present application;
FIG. 6 is a block diagram illustrating an electronic device for positioning according to an example embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. The terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the invention and to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present disclosure.
It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, and indirect connections via intermediary media, where the specific meaning of the terms is understood by those skilled in the art as appropriate.
The present application first introduces a positioning reference device that may be an article having at least one larger reference plane. Optionally, the device may be a plate-shaped article, a pad-shaped article, a patch-shaped article, or the like, and the specific spatial structure of the device is not limited in the present application. The device can be a paper article, a wood article or an article made of a polymer material, and the specific material aspect of the device is not limited in the application. On at least one larger reference plane of the device, an image marker may be disposed, wherein the plane may have any reasonable shape, for example, the plane may be a circular plane, a rectangular plane, or a regular hexagonal plane, and the specific shape of the plane is not limited in the present application.
Referring to fig. 1A-1C, fig. 1A-1C are schematic structural diagrams of a positioning reference device according to an exemplary embodiment.
As shown in fig. 1A-1C, on at least one plane 101 of the apparatus, a positioning reference area 102 is provided, in which a plurality of image markers are provided. And, a plurality of image identifications are mutually independent and not overlapped.
The plurality of image identifiers may include at least a first image identifier 103 and a second image identifier 104. The second image mark 104 is disposed at the center of the positioning reference area 102, and the first image marks 103 are uniformly disposed around the second image mark 104. Of the plurality of image markers, the first image marker 103 has the largest area and the second image marker 104 has the smallest area.
It should be noted that, in this embodiment, the positioning reference area is an area where the image identifier is set on the plane of the apparatus, and the area may have any reasonable shape. In fig. 1A, the positioning reference area is a square area, and it is understood that the positioning reference area may be an area of other shapes. For example, as shown in FIG. 1B, the positioning reference area may also be a circular area. It is to be understood that the present embodiment is not limited to the specific shape of the positioning reference region.
In this embodiment, the outline of the image identifier may also have any reasonable shape, and in fig. 1A, the outline of the image identifier is a square, and it is understood that the outline of the image identifier may also have other shapes. For example, as shown in fig. 1B, the outline of the image marker is a circle and a fan. It is to be understood that the present application is not limited to the particular shape of the outline identified by the image.
Specifically, the image identifier may be any identifier having a distinguishing function, for example, the image identifier may include, but is not limited to, a color block identifier, a barcode identifier, a two-dimensional code identifier, an icon identifier, a machine code identifier, a character identifier, a texture feature identifier, and the like. The image identifiers arranged in the positioning reference area of the device have respective image characteristics, and the images are different. It should be noted that the plurality of image identifiers set in the positioning reference area of the apparatus may be different types of image identifiers. For example, as shown in fig. 1C, a two-dimensional code mark and a texture feature mark may be set in the positioning reference region of the apparatus.
The positioning reference device provided by the above embodiment of the present application is provided with a positioning reference region on at least one plane, and a plurality of image identifiers that do not overlap with each other are provided in the positioning reference region, and the area of the image identifier provided at the center position of the positioning reference region is the smallest, and the area of the image identifier provided around the center of the reference region is the largest. Use unmanned aerial vehicle as an example, when unmanned aerial vehicle consults the device to carry out accurate berth/accurate input, generally when the device top distance is far away, what adopt is GPS location, and the error of location is great, so unmanned aerial vehicle is located the device location and consults the probability directly over regional center less. And, because unmanned aerial vehicle is far away from the device, adopt great image identification to carry out location robustness higher (the image identification is bigger the easier discernment). When unmanned aerial vehicle is near in the device top distance, consult the device and fix a position, positioning error is less, moreover, constantly based on positioning result adjustment unmanned aerial vehicle's position, so unmanned aerial vehicle is located the device location and consults the probability directly over regional center great. And, because unmanned aerial vehicle is nearer apart from the device, it is higher to adopt less image identification to fix a position robustness (if image identification is too big, then can't gather completely). Therefore, in the embodiment, on the plane of the positioning reference device, the image identifier with the smallest area is arranged at the center of the reference area, and the image identifier with the largest area is arranged around the center of the reference area, so that the robustness of long-distance positioning is improved, the robustness of short-distance positioning is also improved, and the efficiency and the accuracy of positioning are also improved.
In some alternative embodiments, the positioning reference area may be rectangular, and the first image identifier is respectively disposed in position areas corresponding to four corners of the positioning reference area.
Specifically, the positioning reference region may be set to be rectangular, and the first image markers (image markers having the largest area) may be set in the position regions corresponding to the four corners of the positioning reference region, respectively, so that the area of the first image markers is as large as possible. Wherein the position region corresponding to the corner may be a region near the corner.
In the embodiment, the positioning reference region is set to be rectangular, and the first image identifier with the largest area is set to the position regions corresponding to the four corners of the positioning reference region, so that the effective utilization area of the positioning reference region can be increased under the condition that the area of the first image identifier is as large as possible.
Referring to fig. 2A and 2B, fig. 2A and 2B are schematic structural diagrams of a positioning reference device according to another exemplary embodiment.
As shown in fig. 2A and 2B, on the plane of the positioning reference device, a positioning reference area is provided in which a plurality of image markers that do not overlap with each other are provided.
The plurality of image identifiers include a first image identifier 201, a second image identifier 202, and a third image identifier 203. The second image mark 202 is arranged at the center of the positioning reference area, the first image marks 201 are uniformly arranged around the second image mark 202, and the third image mark 203 is arranged between the adjacent first image marks and close to the edge of the positioning reference area.
In this embodiment, the area of the first image identifier 201 is the largest, the area of the second image identifier 202 is the smallest, the area of the third image identifier 203 is smaller than the area of the first image identifier 201, and the area of the third image identifier 203 is greater than or equal to the area of the second image identifier 202.
For example, as shown in fig. 2A, the area of the third image identifier 203 may be larger than the area of the second image identifier 202. As shown in fig. 2B, the area of the third image identifier 203 may also be equal to the area of the second image identifier 202.
The positioning reference device provided by the above embodiment of the present application is provided with a positioning reference region on at least one plane, and a plurality of image identifiers that do not overlap with each other are provided in the positioning reference region, and the area of the image identifier provided at the center position of the positioning reference region is the smallest, and the area of the image identifier provided around the center of the reference region is the largest. And image marks with smaller areas (smaller than the maximum area and larger than or equal to the minimum area) are also arranged between the image marks with the maximum areas and close to the edge of the positioning reference area. Use unmanned aerial vehicle as an example, when unmanned aerial vehicle consulted the device and carried out accurate berth/accurate input, when the device top distance was nearer, the probability that is located directly over the device center was great. However, if the drone is too far off the center of the device due to high wind or other external forces, the drone may be too close to the device to completely detect the image tag with the largest area on the plane of the device. Because in this embodiment, be close to the position at regional edge between the biggest image identification of area, set up less image identification, consequently, unmanned aerial vehicle is when the device top distance is nearer, if the device center is directly over to too much skew, then help unmanned aerial vehicle to detect this less image identification to fix a position again according to this less image identification, thereby avoided because unmanned aerial vehicle's skew and can't continue the problem of location.
Referring to fig. 3A-3D, fig. 3A-3D are schematic structural diagrams illustrating another positioning reference device according to an exemplary embodiment.
As shown in fig. 3A-3D, on the plane of the device, a positioning reference area is provided in which a plurality of image markers are provided, which do not overlap with each other.
The plurality of image identifiers include a first image identifier 301, a second image identifier 302, a third image identifier 303, and a fourth image identifier 304. The second image markers 302 are arranged at the center of the positioning reference area, the first image markers 301 are uniformly arranged around the second image markers 302, and the third image markers 303 are arranged between the adjacent first image markers at positions close to the edges of the positioning reference area. At least one fourth image identifier 304 is arranged between the third image identifier 303 and the second image identifier 302.
In this embodiment, the area of the first image identifier 301 is the largest, and the area of the second image identifier 302 is the smallest. The area of the third image marker 303 is smaller than the area of the first image marker 301 and the area of the third image marker 303 is larger than or equal to the area of the fourth image marker 304. The area of the fourth image identifier 304 is greater than or equal to the area of the second image identifier 302.
For example, as shown in fig. 3A, the area of the third image marker 303 is the same as the area of the second image marker 302 and the area of the fourth image marker 304.
For another example, as shown in fig. 3B, the area of the third image identifier 303 is equal to the area of the fourth image identifier 304, and both the area of the third image identifier 303 and the area of the fourth image identifier 304 are larger than the area of the second image identifier 302.
For another example, as shown in fig. 3C, the area of the second image identifier 302 is equal to the area of the fourth image identifier 304, and both the area of the second image identifier 302 and the area of the fourth image identifier 304 are smaller than the area of the third image identifier 303.
For another example, as shown in fig. 3D, the area of the third image identifier 303 is larger than the area of the fourth image identifier 304, and the area of the fourth image identifier 304 is larger than the area of the second image identifier 302.
The utility model provides a location reference device that above-mentioned embodiment provided has set up less image identification between the biggest image identification of area, and unmanned aerial vehicle is near the time in the device top distance, if the device center is directly over to too much skew, then helps unmanned aerial vehicle to detect this less image identification to fix a position again according to this less image identification, thereby further avoided because unmanned aerial vehicle's skew and can't continue the problem of location.
In further alternative embodiments, the plurality of image signatures are distributed in a centrosymmetric manner in the localization reference region.
In other alternative embodiments, the positioning reference area of the device is a regular quadrilateral.
In further alternative embodiments, the plurality of image signatures of the apparatus are distributed symmetrically with respect to both diagonals of the localization reference area. FIG. 4, as shown in FIG. 4, is a schematic illustration of a distribution of image markers in a location reference area, according to an exemplary embodiment.
In the positioning reference device provided by the above embodiment of the present application, a positioning reference region is disposed on at least one plane, a plurality of image identifiers that do not overlap with each other are disposed in the positioning reference region, an area of the image identifier disposed at a center position of the positioning reference region is the smallest, and an area of the image identifier disposed around a center of the reference region is the largest. And, the distribution of the plurality of image signatures of the apparatus in the localization reference areas is symmetrical with respect to both diagonals of the localization reference areas. Taking unmanned aerial vehicle as an example, when unmanned aerial vehicle consults the device and carries out accurate berth/accurate input, generally above the device location reference area center, the positioning error to each direction is the same around. Therefore, in this embodiment, the distribution of the plurality of image identifiers in the positioning reference area is symmetrical with respect to two diagonals of the positioning reference area, so that errors in each direction above the center of the positioning reference area of the apparatus can be balanced, and the robustness of positioning is further improved.
As shown in fig. 5, fig. 5 shows a flowchart of a method for positioning according to an exemplary embodiment, which may be applied in an unmanned smart device. Those skilled in the art will appreciate that the unmanned smart device may include, but is not limited to, devices such as unmanned robots, unmanned vehicles, drones, and the like. In this embodiment, for ease of understanding, the description is in conjunction with a drone. The method comprises the following steps:
in step 501, if it is determined that the target device is operated within a preset range around the target device, image data of the target device is obtained.
In this embodiment, the drone generally needs to be positioned with reference to the marker for accurate docking/delivery. The target device with the positioning reference function can be used as a reference marker, a plurality of image identifications are arranged on the plane of the target device, and the unmanned aerial vehicle can be positioned by referring to the plurality of image identifications arranged on the plane of the target device.
Specifically, first, position information of the target device may be acquired, and positioning information of the drone is acquired in real time. When the unmanned aerial vehicle is determined to operate to the preset range around the target device according to the position information of the target device and the positioning information of the unmanned aerial vehicle, the image data of the target device can be acquired by adopting the camera equipment installed on the unmanned aerial vehicle.
The positioning reference area is arranged on at least one plane of the target device, a plurality of image identifications are arranged in the positioning reference area, and the image identifications are not overlapped with one another. The plurality of image identifications comprise first image identifications and second image identifications, the second image identifications are arranged at the center of the positioning reference area, and the first image identifications are uniformly arranged around the second image identifications. In the plurality of image markers, the area of the first image marker is the largest, and the area of the second image marker is the smallest.
In step 502, one or more target image identifiers identified from the image data and provided on the target device are determined.
In this embodiment, the image data of the target device may be recognized, and the target image identifier on the target device recognized from the image data may be determined. The target image identifier may be an entire image identifier on the target device, or may be a partial image identifier on the target device.
For example, when the drone is far from the target device, an image identifier with a large area can be identified, whereas an image identifier with a small area may not be identified due to pixel problems. When the unmanned aerial vehicle is nearer to the target device, the image identification with smaller area can be identified, and the image identification with larger area can not be completely shot due to too close distance. Thus, the target image identification may comprise only a partial image identification on the target device.
In step 503, relative position information is determined, currently relative to the target device, based on the target image identification.
In this embodiment, the coordinate value of each image identifier (e.g., the vertex of the image identifier, or the center point of the image identifier) on the target device relative to the target device (with the center of the target device positioning reference area as the origin) may be predetermined and stored in association with the corresponding image identifier.
Then, after the target image identifiers are recognized, the coordinate values of the image special points of each target image identifier relative to the target device can be acquired. And determining the position of the image special point of each target image identifier in the image data, thereby obtaining the coordinate value of the image special point of each target image identifier in the unmanned aerial vehicle camera coordinate system.
And finally, based on the coordinate value of the image special point of each target image identifier relative to the target device and the coordinate value of the image special point of each target image identifier in the unmanned aerial vehicle camera coordinate system, performing pose calculation by adopting a preset pose calculation algorithm (such as a SolvePnP algorithm or a solvePpransac algorithm) so as to obtain the current reference relative position of the unmanned aerial vehicle relative to the target device.
The method for positioning provided by the above embodiment of the present application, when determining that the target device is operated within a preset range around the target device, acquires image data of the target device, determines one or more target image identifiers identified from the image data and provided on the target device, and determines current relative position information with respect to the target device based on the target image identifiers. The target device has a positioning reference function, a positioning reference area is arranged on the plane of the target device, a plurality of image identifiers which do not overlap with each other are arranged in the positioning reference area, the area of the image identifier arranged at the center of the positioning reference area is the smallest, and the area of the image identifier arranged around the center of the reference area is the largest. Use unmanned aerial vehicle as an example, when unmanned aerial vehicle consults the device to carry out accurate berth/accurate input, generally when the device top distance is far away, what adopt is GPS location, and the error of location is great, so unmanned aerial vehicle is located the device location and consults the probability directly over regional center less. And, because unmanned aerial vehicle is far away from the device, adopt great image identification to carry out location robustness higher (the image identification is bigger the easier discernment). When unmanned aerial vehicle is near in the device top distance, consult the device and fix a position, positioning error is less, moreover, constantly based on positioning result adjustment unmanned aerial vehicle's position, so unmanned aerial vehicle is located the device location and consults the probability directly over regional center great. And, because unmanned aerial vehicle is nearer apart from the device, it is higher to adopt less image identification to fix a position robustness (if image identification is too big, then can't gather completely). Therefore, in this embodiment, on the device plane with the positioning reference function, the image identifier with the smallest area is set at the center of the reference region, and the image identifier with the largest area is set around the center of the reference region, so that not only is the robustness of remote positioning improved, but also the robustness of close-range positioning is improved, and the efficiency and accuracy of positioning are also improved.
In some alternative embodiments, the positioning reference area is rectangular, and the first image identifier is respectively disposed in position areas corresponding to four corners of the positioning reference area.
In other optional embodiments, the image markers may further include a third image marker, the third image marker is disposed between adjacent first image markers at a position close to the edge of the positioning reference region, and the area of the third image marker is smaller than that of the first image marker and larger than or equal to that of the second image marker.
In other optional embodiments, the image identifier may further include a fourth image identifier, at least one fourth image identifier is disposed between the third image identifier and the second image identifier, an area of the fourth image identifier is smaller than or equal to an area of the third image identifier, and an area of the fourth image identifier is larger than or equal to an area of the second image identifier.
In further alternative embodiments, the plurality of image signatures are distributed in a centrosymmetric manner in the localization reference region.
In other alternative embodiments, the positioning reference area may be a regular quadrilateral.
In further alternative embodiments, the distribution of the plurality of image signatures in the localization reference areas is symmetrical with respect to both diagonals of the localization reference areas.
In further alternative embodiments, the image identification may include one or more of: color block identification; a bar code identification; identifying a two-dimensional code; an icon identification; identifying a machine code; character identification; and (5) line characteristic identification.
Corresponding to the foregoing method embodiments for positioning, the present application also provides embodiments of an electronic device for positioning.
As shown in fig. 6, fig. 6 is a block diagram of an electronic device for positioning according to an exemplary embodiment, where the electronic device may include: an obtaining module 601, a first determining module 602, and a second determining module 603.
The obtaining module 601 is configured to obtain image data of the target device when the target device is determined to be operated within a preset range around the target device.
A first determining module 602, configured to determine one or more target image identifiers set on a target device, which are identified from the image data.
A second determining module 603 for determining current relative position information with respect to the target device based on the target image identification.
The target device has a positioning reference function, a positioning reference area is arranged on at least one plane of the target device, a plurality of image identifications are arranged in the positioning reference area, and the plurality of image identifications are not overlapped with each other. The plurality of image identifications comprise a first image identification and a second image identification, the second image identification is arranged at the central position of the positioning reference area, the first image identification is uniformly arranged around the second image identification, and the area of the first image identification is the largest and the area of the second image identification is the smallest in the plurality of image identifications.
In some alternative embodiments, the positioning reference area is rectangular, and the first image identifier is respectively disposed in position areas corresponding to four corners of the positioning reference area.
In other optional embodiments, the image markers may further include a third image marker, the third image marker is disposed between adjacent first image markers at a position close to the edge of the positioning reference region, and the area of the third image marker is smaller than that of the first image marker and larger than or equal to that of the second image marker.
In other optional embodiments, the image identifier may further include a fourth image identifier, at least one fourth image identifier is disposed between the third image identifier and the second image identifier, an area of the fourth image identifier is smaller than or equal to an area of the third image identifier, and an area of the fourth image identifier is larger than or equal to an area of the second image identifier.
In further alternative embodiments, the plurality of image signatures are distributed in a centrosymmetric manner in the localization reference region.
In other alternative embodiments, the positioning reference area may be a regular quadrilateral.
In further alternative embodiments, the distribution of the plurality of image signatures in the localization reference areas is symmetrical with respect to both diagonals of the localization reference areas.
In further alternative embodiments, the image identification may include one or more of: color block identification; a bar code identification; identifying a two-dimensional code; an icon identification; identifying a machine code; character identification; and (5) line characteristic identification.
For the electronic device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points. The above-described embodiments of the electronic device are merely illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the application. One of ordinary skill in the art can understand and implement it without inventive effort.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (7)
1. A positioning reference device, characterized in that the device is used for enabling an unmanned aerial vehicle to make a precise stop/precise launch with reference to the device; aiming at least one plane of the device, a positioning reference area is arranged on the plane, a plurality of image identifications are arranged in the positioning reference area, and the plurality of image identifications are not overlapped with each other;
the plurality of image identifications comprise a first image identification and a second image identification, the second image identification is arranged at the center of the positioning reference area, and the first image identification is arranged around the second image identification; the area of the first image identifier is the largest and the area of the second image identifier is the smallest in the plurality of image identifiers;
the image marks further comprise third image marks, the third image marks are arranged between the adjacent first image marks and close to the edges of the positioning reference regions, and the areas of the third image marks are smaller than the areas of the first image marks and larger than or equal to the areas of the second image marks.
2. The apparatus according to claim 1, wherein the positioning reference area is rectangular, and the first image id is respectively disposed in position areas corresponding to four corners of the positioning reference area.
3. The apparatus of claim 1, wherein the plurality of image tags further includes a fourth image tag, at least one fourth image tag is disposed between the third image tag and the second image tag, an area of the fourth image tag is smaller than or equal to an area of the third image tag, and an area of the fourth image tag is larger than or equal to an area of the second image tag.
4. The apparatus according to any of claims 1-3, wherein the plurality of image signatures are centrally symmetrically distributed in the localization reference area.
5. The apparatus of claim 4, wherein the positioning reference area is a regular quadrilateral.
6. The apparatus of claim 5, wherein the distribution of the plurality of image markers in the positioning reference region is symmetric with respect to both diagonals of the positioning reference region.
7. The apparatus of any of claims 1-3, wherein the image identification comprises one or more of:
color block identification;
a bar code identification;
identifying a two-dimensional code;
an icon identification;
identifying a machine code;
character identification;
and (5) line characteristic identification.
Priority Applications (1)
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