CN110603503A - 移动设备的控制方法、设备和存储装置 - Google Patents

移动设备的控制方法、设备和存储装置 Download PDF

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Publication number
CN110603503A
CN110603503A CN201880030092.4A CN201880030092A CN110603503A CN 110603503 A CN110603503 A CN 110603503A CN 201880030092 A CN201880030092 A CN 201880030092A CN 110603503 A CN110603503 A CN 110603503A
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CN
China
Prior art keywords
calibration
objects
image
control
mobile device
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Pending
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CN201880030092.4A
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English (en)
Inventor
田原原
朱成伟
唐克坦
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN110603503A publication Critical patent/CN110603503A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Studio Devices (AREA)

Abstract

本申请公开了移动设备的控制方法、设备和存储装置。其中，所述方法包括：获取对设有若干标定对象的标定装置拍摄得到的测量图像，利用所述测量图像获得所述移动设备的位姿信息；利用所述位姿信息和待执行的控制指令，预测所述移动设备的移动状态；以及当所述预测的移动状态不满足设定移动条件时，约束所述移动设备的移动，以使约束后的移动状态满足设定移动条件。通过上述方式，能够提高移动设备的移动控制的准确性。

Description

PCT国内申请，说明书已公开。

Claims (64)

  1. PCT国内申请，权利要求书已公开。
CN201880030092.4A 2018-02-28 2018-02-28 移动设备的控制方法、设备和存储装置 Pending CN110603503A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/077661 WO2019165613A1 (zh) 2018-02-28 2018-02-28 移动设备的控制方法、设备和存储装置

Publications (1)

Publication Number Publication Date
CN110603503A true CN110603503A (zh) 2019-12-20

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CN201880030092.4A Pending CN110603503A (zh) 2018-02-28 2018-02-28 移动设备的控制方法、设备和存储装置

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US (1) US20200380727A1 (zh)
CN (1) CN110603503A (zh)
WO (1) WO2019165613A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115862391A (zh) * 2022-11-22 2023-03-28 东南大学 一种面向智能网联环境的机场场道车机跟驰安全评判方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020047713A1 (en) * 2018-09-03 2020-03-12 Abb Schweiz Ag Method and apparatus for managing robot system
US11543819B2 (en) * 2019-02-25 2023-01-03 Textron Innovations Inc. Remote control unit having active feedback

Citations (8)

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CN105575188A (zh) * 2016-03-07 2016-05-11 丁元沅 无人机安全运营的机载自主监视及报警系统和方法
US20160275801A1 (en) * 2013-12-19 2016-09-22 USA as Represented by the Administrator of the National Aeronautics & Space Administration (NASA) Unmanned Aerial Systems Traffic Management
CN106406189A (zh) * 2016-11-28 2017-02-15 中国农业大学 一种无人机植保作业的电子围栏监控方法
CN106444846A (zh) * 2016-08-19 2017-02-22 杭州零智科技有限公司 移动终端的定位和控制方法、装置及无人机
CN107305374A (zh) * 2016-04-22 2017-10-31 优利科技有限公司 无人机航拍系统
CN107314771A (zh) * 2017-07-04 2017-11-03 合肥工业大学 基于编码标志点的无人机定位以及姿态角测量方法
CN107516437A (zh) * 2017-07-12 2017-12-26 哈尔滨理工大学 无人机空中运行安全管控系统及方法
CN206968999U (zh) * 2017-07-14 2018-02-06 广东工业大学 一种无人机及视觉定标的系统

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160275801A1 (en) * 2013-12-19 2016-09-22 USA as Represented by the Administrator of the National Aeronautics & Space Administration (NASA) Unmanned Aerial Systems Traffic Management
CN105575188A (zh) * 2016-03-07 2016-05-11 丁元沅 无人机安全运营的机载自主监视及报警系统和方法
CN107305374A (zh) * 2016-04-22 2017-10-31 优利科技有限公司 无人机航拍系统
CN106444846A (zh) * 2016-08-19 2017-02-22 杭州零智科技有限公司 移动终端的定位和控制方法、装置及无人机
CN106406189A (zh) * 2016-11-28 2017-02-15 中国农业大学 一种无人机植保作业的电子围栏监控方法
CN107314771A (zh) * 2017-07-04 2017-11-03 合肥工业大学 基于编码标志点的无人机定位以及姿态角测量方法
CN107516437A (zh) * 2017-07-12 2017-12-26 哈尔滨理工大学 无人机空中运行安全管控系统及方法
CN206968999U (zh) * 2017-07-14 2018-02-06 广东工业大学 一种无人机及视觉定标的系统

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115862391A (zh) * 2022-11-22 2023-03-28 东南大学 一种面向智能网联环境的机场场道车机跟驰安全评判方法
CN115862391B (zh) * 2022-11-22 2023-08-29 东南大学 一种面向智能网联环境的机场场道车机跟驰安全评判方法

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WO2019165613A1 (zh) 2019-09-06

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