CN115134509A - Real-time panoramic imaging system and imaging method of 5G networked logistics unmanned aerial vehicle - Google Patents
Real-time panoramic imaging system and imaging method of 5G networked logistics unmanned aerial vehicle Download PDFInfo
- Publication number
- CN115134509A CN115134509A CN202110329205.4A CN202110329205A CN115134509A CN 115134509 A CN115134509 A CN 115134509A CN 202110329205 A CN202110329205 A CN 202110329205A CN 115134509 A CN115134509 A CN 115134509A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- real
- communication unit
- processing unit
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention relates to a real-time panoramic imaging system and an imaging method of a 5G networked logistics unmanned aerial vehicle, wherein the imaging system comprises the unmanned aerial vehicle, a ground terminal, a touch display screen and at least 4 wide-angle cameras; be no less than 4 wide angle cameras and carry in the different position rotor below of unmanned aerial vehicle, two adjacent wide angle cameras have and shoot overlapping region, be equipped with unmanned aerial vehicle information processing unit and unmanned aerial vehicle communication unit in the unmanned aerial vehicle, unmanned aerial vehicle information processing unit is connected with each wide angle camera and unmanned aerial vehicle communication unit respectively, be equipped with three-dimensional modeling unit, panorama concatenation processing unit and ground communication unit in the ground terminal, ground communication unit passes through 5G basic station network and is connected with unmanned aerial vehicle communication unit, and ground communication unit is connected with panorama concatenation processing unit and three-dimensional modeling unit respectively, and panorama concatenation processing unit is connected with touch display screen. The unmanned aerial vehicle environment observation system is reasonable in design, high in scene reality and capable of observing the surrounding environment of the unmanned aerial vehicle at the third visual angle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a real-time panoramic imaging system and an imaging method of a 5G networked logistics unmanned aerial vehicle.
Background
At present, the flight operation of the existing unmanned aerial vehicle generally controls a remote controller through a flying hand, and the remote controller interacts with the unmanned aerial vehicle at the sky end through a special wireless network signal. Install first visual angle camera on the unmanned aerial vehicle usually, the picture of shooing sends the display screen of remote controller back through unmanned aerial vehicle communication unit and shows, the control of visual within range has greatly limited unmanned aerial vehicle's application range, from the angle of safe flight, the environment around the whole aircraft can't be looked after in real time to single camera, especially be used for the large-scale unmanned aerial vehicle of commodity circulation, because its volume is bigger, the rotor radius is wider, the security just seems extraordinarily important.
Disclosure of Invention
The invention aims to provide a real-time panoramic imaging system of a 5G internet logistics unmanned aerial vehicle, which is reasonable in design, high in scene authenticity and capable of observing the surrounding environment of the unmanned aerial vehicle at a third visual angle, and meanwhile provides an imaging method of the real-time panoramic imaging system of the 5G internet logistics unmanned aerial vehicle, which is reasonable in design and simple and easy to operate.
In order to achieve the first object, the invention adopts the following technical scheme:
a real-time panoramic imaging system of a 5G networked logistics unmanned aerial vehicle comprises the unmanned aerial vehicle, a ground terminal, a touch display screen and at least 4 wide-angle cameras; it carries in unmanned aerial vehicle different position rotor below to be no less than 4 wide angle cameras, and two adjacent wide angle cameras have and shoot the overlap area, be equipped with unmanned aerial vehicle information processing unit and unmanned aerial vehicle communication unit in the unmanned aerial vehicle, unmanned aerial vehicle information processing unit is connected with each wide angle camera and unmanned aerial vehicle communication unit respectively, be equipped with three-dimensional modeling unit, panorama concatenation processing unit and ground communication unit in the ground terminal, ground communication unit passes through 5G base station network and is connected with unmanned aerial vehicle communication unit, and ground communication unit is connected with panorama concatenation processing unit and three-dimensional modeling unit respectively, and panorama concatenation processing unit is connected with touch display screen.
Preferably, the angle of view of the wide-angle camera is 120-180 °.
Preferably, the number of the wide-angle cameras is 6, wherein 3 wide-angle cameras are installed in a downward inclined mode, the other 3 wide-angle cameras are installed in an upward inclined mode, and the downward inclined wide-angle cameras and the upward inclined wide-angle cameras are arranged at intervals.
In order to achieve the second object, the invention adopts the following technical scheme:
an imaging method of a real-time panoramic imaging system of a 5G networked logistics unmanned aerial vehicle comprises the following steps:
1) at least 4 wide-angle cameras shoot the peripheral environment of the unmanned aerial vehicle in real time at the same time, and a plurality of real-time images are generated and sent to an unmanned aerial vehicle information processing unit; each real-time image comprises azimuth information and overlapping area information of the adjacent real-time images;
2) the unmanned aerial vehicle information processing unit receives the plurality of real-time images, merges and packages the real-time images, generates merged images and sends the merged images to the unmanned aerial vehicle communication unit;
3) the unmanned aerial vehicle communication unit sends the combined image to the ground communication unit through a 5G base station network;
4) the ground communication unit respectively sends the merged images to the three-dimensional modeling unit and the panorama stitching processing unit;
5) the three-dimensional modeling unit carries out unmanned aerial vehicle modeling according to the azimuth information in the combined image to generate a virtual unmanned aerial vehicle;
6) the panoramic stitching processing unit carries out image stitching processing according to the azimuth information and the overlapping area information in the merged image to generate a stitched image;
7) the panoramic stitching processing unit is used for carrying out superposition processing on the stitched image and the virtual unmanned aerial vehicle to generate a third visual angle three-dimensional panoramic image with the virtual unmanned aerial vehicle as the center and sending the third visual angle three-dimensional panoramic image to the touch display screen;
8) and observing the surrounding environment of the unmanned aerial vehicle by clicking or dragging the third visual angle three-dimensional panoramic image displayed in the touch display screen.
Preferably, the angle of view of the wide-angle camera in step 1) is 120 ° to 180 °.
Preferably, the number of the wide-angle cameras in the step 1) is 6, wherein 3 wide-angle cameras are installed in a downward inclined mode, the other 3 wide-angle cameras are installed in an upward inclined mode, and the downward inclined wide-angle cameras and the upward inclined wide-angle cameras are arranged at intervals.
Preferably, the inclination angle of the upward inclination or the downward inclination is 15 to 45 °.
Preferably, the method for modeling the unmanned aerial vehicle in step 5) includes: and simulating to generate the virtual unmanned aerial vehicle by using three-dimensional modeling software according to the azimuth information in the combined image and the flight parameters of the unmanned aerial vehicle.
Preferably, the image stitching process in step 6) includes the following steps:
6.1) extracting matching feature points from the splicing side of a plurality of real-time images in the combined image respectively;
6.2) carrying out feature point matching based on the matched feature points to determine the mutual position relation of the plurality of real-time images, and aligning every two adjacent real-time images to determine an overlapping area;
and 6.3) carrying out fusion processing on each overlapped area by adopting a smooth transition method to generate a spliced image.
By adopting the technical scheme, the invention loads not less than 4 wide-angle cameras below rotors in different directions of the unmanned aerial vehicle, every two adjacent wide-angle cameras have a shooting overlapping area, can realize the omnibearing shooting of the peripheral environment of the unmanned aerial vehicle to obtain real-time images which are consistent with the actual environment, sequentially passes through an unmanned aerial vehicle information processing unit, an unmanned aerial vehicle communication unit, a 5G base station network and a ground communication unit, is respectively sent to a three-dimensional modeling unit and a panorama splicing processing unit, respectively carries out unmanned aerial vehicle modeling and image splicing processing, and then carries out superposition to obtain a third visual angle three-dimensional panoramic image which is formed by directly splicing the real-time images and has high reality scenes and takes a virtual unmanned aerial vehicle as the center, the manufacturing process greatly reduces image processing and computation amount, is simpler and more practical, and finally is sent to a touch display screen with a human-computer interaction function for displaying, make it can be through the click or pull the three-dimensional panoramic picture of third visual angle that shows in the screen, realize observing unmanned aerial vehicle surrounding environment from arbitrary angle, overcome the tradition and observed from first visual angle and have the sight receive shelter from or unmanned aerial vehicle flies from visual scope etc. not enough, improved the security that unmanned aerial vehicle flies in the sky greatly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a structural block diagram of a real-time panoramic imaging system of a 5G networked logistics unmanned aerial vehicle of the invention;
FIG. 2 is a schematic view of the installation of the wide-angle camera of the present invention on an unmanned aerial vehicle;
fig. 3 is a flow chart of an imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle.
Detailed Description
In order to make the objects, aspects and advantages of the present invention more concise and clear, exemplary embodiments of the present invention will be described in detail, 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 invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
As shown in fig. 1 or fig. 2, the real-time panoramic imaging system of the 5G internet logistics unmanned aerial vehicle of the invention comprises an unmanned aerial vehicle 10, a ground terminal 20, a touch display screen 30 and at least 4 wide-angle cameras 50; not less than 4 wide angle cameras 50 carry in unmanned aerial vehicle 10 different position rotor 13 below, two adjacent wide angle cameras 50 have and shoot the overlap region, be equipped with unmanned aerial vehicle information processing unit 11 and unmanned aerial vehicle communication unit 12 in the unmanned aerial vehicle 10, unmanned aerial vehicle information processing unit 11 is connected with each wide angle camera 50 and unmanned aerial vehicle communication unit 12 respectively, be equipped with three-dimensional modeling unit 21, panorama concatenation processing unit 22 and ground communication unit 23 in the ground terminal 20, ground communication unit 23 is connected with unmanned aerial vehicle communication unit 12 through 5G base station network 40, and ground communication unit 23 is connected with panorama concatenation processing unit 22 and three-dimensional modeling unit 21 respectively, and panorama concatenation processing unit 22 is connected with touch display screen 30.
Preferably, the angle of view of the wide-angle camera 50 is 120 ° to 180 °.
Preferably, the number of the wide-angle cameras 50 is 6, wherein 3 wide-angle cameras 50 are installed in a downward inclination manner, the other 3 wide-angle cameras 50 are installed in an upward inclination manner, and the downward inclination wide-angle cameras 50 and the upward inclination wide-angle cameras 50 are arranged at intervals.
As shown in fig. 3, the imaging method of the real-time panoramic imaging system of the 5G internet logistics unmanned aerial vehicle of the invention comprises the following steps:
1) at least 4 wide-angle cameras 50 shoot the peripheral environment of the unmanned aerial vehicle 10 in real time at the same time, generate a plurality of real-time images and send the images to the unmanned aerial vehicle information processing unit 11; each real-time image comprises azimuth information and overlapping area information of the adjacent real-time images;
2) the unmanned aerial vehicle information processing unit 11 receives the plurality of real-time images, merges and packages the real-time images, generates merged images and sends the merged images to the unmanned aerial vehicle communication unit 12;
3) the unmanned aerial vehicle communication unit 12 sends the merged image to the ground communication unit 23 through the 5G base station network 40;
4) the ground communication unit 23 sends the merged images to the three-dimensional modeling unit 21 and the panorama stitching processing unit 22 respectively;
5) the three-dimensional modeling unit 21 performs modeling on the unmanned aerial vehicle 10 according to the azimuth information in the merged image to generate a virtual unmanned aerial vehicle;
6) the panoramic stitching processing unit 22 performs image stitching processing according to the azimuth information and the overlapping area information in the merged image to generate a stitched image;
7) the panoramic stitching processing unit 22 superimposes the stitched image and the virtual unmanned aerial vehicle to generate a third perspective three-dimensional panoramic image with the virtual unmanned aerial vehicle as the center and sends the third perspective three-dimensional panoramic image to the touch display screen 30;
8) and observing the surrounding environment of the unmanned aerial vehicle 10 by clicking or dragging the third visual angle three-dimensional panoramic image displayed in the screen of the touch display screen 30.
Preferably, the angle of view of the wide-angle camera 50 in step 1) is 120 ° to 180 °.
Preferably, the number of the wide-angle cameras 50 in step 1) is 6, wherein 3 wide-angle cameras 50 are installed in a downward inclination manner, the other 3 wide-angle cameras 50 are installed in an upward inclination manner, and the downward inclination wide-angle cameras 50 and the upward inclination wide-angle cameras 50 are arranged at intervals.
Preferably, the inclination angle of the upward inclination or the downward inclination is 15 to 45 °.
Preferably, the method for modeling the unmanned aerial vehicle 10 in step 5) is as follows: and simulating to generate the virtual unmanned aerial vehicle by using three-dimensional modeling software according to the azimuth information in the combined image and the flight parameters of the unmanned aerial vehicle 10.
Preferably, the image stitching process in step 6) includes the following steps:
6.1) extracting matching feature points from the splicing side of a plurality of real-time images in the combined image respectively;
6.2) carrying out feature point matching based on the matched feature points to determine the mutual position relation of the plurality of real-time images, and aligning every two adjacent real-time images to determine an overlapping area;
and 6.3) carrying out fusion processing on each overlapped area by adopting a smooth transition method to generate a spliced image.
By adopting the technical scheme, not less than 4 wide-angle cameras 50 are arranged below rotors 13 in different directions of an unmanned aerial vehicle 10, every two adjacent wide-angle cameras 50 have a shooting overlapping area, so that the all-around shooting of the peripheral environment of the unmanned aerial vehicle 10 can be realized, real-time images which are consistent with the actual environment can be obtained, the real-time images are sequentially sent to a three-dimensional modeling unit 21 and a panorama splicing processing unit 22 through an unmanned aerial vehicle information processing unit 11, an unmanned aerial vehicle communication unit 12, a 5G base station network 40 and a ground communication unit 23, the three-dimensional modeling and the image splicing processing are respectively carried out, then the three-dimensional panoramic images are superposed, a third visual angle three-dimensional panoramic image which is formed by directly splicing the real-time images and has high reality and is centered on a virtual unmanned aerial vehicle is obtained, the image processing and the operation amount are greatly reduced, the manufacturing process is simpler and more practical, and finally the three-dimensional panoramic images are sent to a touch display screen 30 with a human-computer interaction function for displaying, make it can be through the click or pull the three-dimensional panoramic picture of third visual angle that shows in the screen, realize observing unmanned aerial vehicle 10 surrounding environment from arbitrary angle, overcome the tradition and observed from first visual angle and have the sight receive shelter from or unmanned aerial vehicle 10 fly away from visual scope etc. not enough, improved the security of unmanned aerial vehicle 10 flight in the sky greatly.
While the foregoing is directed to the preferred embodiment of the present invention, it will be appreciated that numerous modifications and variations may be devised by those skilled in the art in light of the above teachings. Therefore, the technical field of the invention based on the concept of the invention through logic analysis, reasoning or limited experiments of equivalent changes, modifications, substitutions and variations, should be determined by the claims scope of protection.
Claims (8)
1. The utility model provides a real-time panorama imaging system of 5G networking commodity circulation unmanned aerial vehicle which characterized in that: the system comprises an unmanned aerial vehicle, a ground terminal, a touch display screen and at least 4 wide-angle cameras; be no less than 4 wide angle cameras and carry in the different position rotor below of unmanned aerial vehicle, two adjacent wide angle cameras have and shoot overlapping region, be equipped with unmanned aerial vehicle information processing unit and unmanned aerial vehicle communication unit in the unmanned aerial vehicle, unmanned aerial vehicle information processing unit is connected with each wide angle camera and unmanned aerial vehicle communication unit respectively, be equipped with three-dimensional modeling unit, panorama concatenation processing unit and ground communication unit in the ground terminal, ground communication unit passes through 5G basic station network and is connected with unmanned aerial vehicle communication unit, and ground communication unit is connected with panorama concatenation processing unit and three-dimensional modeling unit respectively, and panorama concatenation processing unit is connected with touch display screen.
2. The real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle of claim 1, characterized in that: the visual angle of the wide-angle camera is 120-180 degrees.
3. The real-time panoramic imaging system of the 5G online logistics unmanned aerial vehicle of claim 1 or 2, characterized in that: the quantity of wide angle camera is 6, and wherein 3 wide angle camera downward sloping installations, 3 wide angle camera tilt up installations in addition, and the wide angle camera of downward sloping and the wide angle camera of tilt up alternate setting.
4. The imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle according to claim 1, wherein the imaging method comprises the following steps: which comprises the following steps:
1) at least 4 wide-angle cameras shoot the peripheral environment of the unmanned aerial vehicle in real time at the same time, and a plurality of real-time images are generated and sent to an unmanned aerial vehicle information processing unit; each real-time image comprises azimuth information and overlapping area information of the adjacent real-time images;
2) the unmanned aerial vehicle information processing unit receives the plurality of real-time images, merges and packages the real-time images, generates merged images and sends the merged images to the unmanned aerial vehicle communication unit;
3) the unmanned aerial vehicle communication unit sends the combined image to the ground communication unit through a 5G base station network;
4) the ground communication unit respectively sends the merged images to the three-dimensional modeling unit and the panorama stitching processing unit;
5) the three-dimensional modeling unit carries out unmanned aerial vehicle modeling according to the azimuth information in the combined image to generate a virtual unmanned aerial vehicle;
6) the panoramic stitching processing unit carries out image stitching processing according to the azimuth information and the overlapping area information in the merged image to generate a stitched image;
7) the panoramic splicing processing unit carries out superposition processing on the spliced image and the virtual unmanned aerial vehicle to generate a third visual angle three-dimensional panoramic image taking the virtual unmanned aerial vehicle as a center and sends the third visual angle three-dimensional panoramic image to the touch display screen;
8) and observing the surrounding environment of the unmanned aerial vehicle by clicking or dragging the third visual angle three-dimensional panoramic image displayed in the touch display screen.
5. The imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle according to claim 4, wherein the imaging method comprises the following steps: the visual angle of the wide-angle camera in the step 1) is 120-180 degrees.
6. The imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle according to claim 4 or 5, wherein the imaging method comprises the following steps: in step 1) the quantity of wide angle camera is 6, and wherein 3 wide angle cameras downward sloping installation, 3 wide angle cameras tilt up installation in addition, and the wide angle camera of downward sloping and the wide angle camera of tilt up alternate setting.
7. The imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle according to claim 4, wherein the imaging method comprises the following steps: the unmanned aerial vehicle modeling method in the step 5) comprises the following steps: and simulating to generate the virtual unmanned aerial vehicle by using three-dimensional modeling software according to the azimuth information in the combined image and the flight parameters of the unmanned aerial vehicle.
8. The imaging method of the real-time panoramic imaging system of the 5G networked logistics unmanned aerial vehicle according to claim 4, wherein the imaging method comprises the following steps: the image stitching processing in the step 6) comprises the following steps:
6.1) extracting matching feature points from the splicing side of a plurality of real-time images in the combined image respectively;
6.2) carrying out feature point matching based on the matched feature points to determine the mutual position relation of the plurality of real-time images, and aligning every two adjacent real-time images to determine an overlapping area;
and 6.3) carrying out fusion processing on each overlapped area by adopting a smooth transition method to generate a spliced image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110329205.4A CN115134509A (en) | 2021-03-27 | 2021-03-27 | Real-time panoramic imaging system and imaging method of 5G networked logistics unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110329205.4A CN115134509A (en) | 2021-03-27 | 2021-03-27 | Real-time panoramic imaging system and imaging method of 5G networked logistics unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115134509A true CN115134509A (en) | 2022-09-30 |
Family
ID=83374898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110329205.4A Pending CN115134509A (en) | 2021-03-27 | 2021-03-27 | Real-time panoramic imaging system and imaging method of 5G networked logistics unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115134509A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106095774A (en) * | 2016-05-25 | 2016-11-09 | 深圳市创驰蓝天科技发展有限公司 | A kind of unmanned plane image panorama methods of exhibiting |
| CN106341667A (en) * | 2016-11-10 | 2017-01-18 | 广西师范大学 | UAV (Unmanned Aerial Vehicle) based 3D panorama video remote monitoring system and image acquisition control method thereof |
| CN107863804A (en) * | 2017-11-29 | 2018-03-30 | 重庆固恒通信设备有限公司 | Unmanned plane charging system based on unattended platform |
| CN111596297A (en) * | 2020-07-06 | 2020-08-28 | 吉林大学 | Device and method for detecting aerial unmanned aerial vehicle based on panoramic imaging and ultrasonic rotation |
| CN112312091A (en) * | 2020-10-28 | 2021-02-02 | 五邑大学 | Unmanned aerial vehicle image transmission method, device, storage medium and system based on 5G |
-
2021
- 2021-03-27 CN CN202110329205.4A patent/CN115134509A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106095774A (en) * | 2016-05-25 | 2016-11-09 | 深圳市创驰蓝天科技发展有限公司 | A kind of unmanned plane image panorama methods of exhibiting |
| CN106341667A (en) * | 2016-11-10 | 2017-01-18 | 广西师范大学 | UAV (Unmanned Aerial Vehicle) based 3D panorama video remote monitoring system and image acquisition control method thereof |
| CN107863804A (en) * | 2017-11-29 | 2018-03-30 | 重庆固恒通信设备有限公司 | Unmanned plane charging system based on unattended platform |
| CN111596297A (en) * | 2020-07-06 | 2020-08-28 | 吉林大学 | Device and method for detecting aerial unmanned aerial vehicle based on panoramic imaging and ultrasonic rotation |
| CN112312091A (en) * | 2020-10-28 | 2021-02-02 | 五邑大学 | Unmanned aerial vehicle image transmission method, device, storage medium and system based on 5G |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106485736A (en) | A kind of unmanned plane panoramic vision tracking, unmanned plane and control terminal | |
| CN106454209B (en) | The fast anti-data link system of unmanned plane emergency and method based on TEMPORAL-SPATIAL INFORMATION FUSION | |
| US9374561B1 (en) | Step-stare oblique aerial camera system | |
| CN107729808A (en) | A kind of image intelligent acquisition system and method for power transmission line unmanned machine inspection | |
| CN104168455A (en) | Air-based large-scene photographing system and method | |
| WO2019041276A1 (en) | Image processing method, and unmanned aerial vehicle and system | |
| CN106657906A (en) | Information equipment monitoring system with function of self-adaptive scenario virtual reality | |
| CN106878687A (en) | A kind of vehicle environment identifying system and omni-directional visual module based on multisensor | |
| CN112115607B (en) | Mobile intelligent body digital twin system based on multidimensional microblog space | |
| CN110428501B (en) | Panoramic image generation method and device, electronic equipment and readable storage medium | |
| CN103226838A (en) | Real-time spatial positioning method for mobile monitoring target in geographical scene | |
| CN205693769U (en) | A kind of motion cameras positioning capturing quick to panorama target system | |
| CN105809701A (en) | Panorama video posture calibrating method | |
| CN107111928A (en) | Remotely controlled operation machine display system | |
| CN107703956A (en) | A kind of virtual interaction system and its method of work based on inertia capturing technology | |
| CN115798265B (en) | Digital tower construction method based on digital twin technology and implementation system thereof | |
| Zhang et al. | Image-only real-time incremental UAV image mosaic for multi-strip flight | |
| CN107197209A (en) | The dynamic method for managing and monitoring of video based on panorama camera | |
| CN109931950A (en) | A kind of real scene navigation method, system and terminal device | |
| CN110675484A (en) | Dynamic three-dimensional digital scene construction method with space-time consistency based on compound eye camera | |
| CN105096284A (en) | Method, device and system of generating road orthographic projection image | |
| CN112969977A (en) | Catching auxiliary method, ground command platform, unmanned aerial vehicle, system and storage medium | |
| CN111147811B (en) | Three-dimensional imaging system, imaging method and imaging device for automatic face tracking | |
| CN108108396A (en) | A kind of aircraft take photo by plane picture splicing management system | |
| CN114545963A (en) | Method and system for optimizing multi-unmanned aerial vehicle panoramic monitoring video and electronic equipment |
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 |