CN202084081U - Moving object motion attitude sensing system - Google Patents
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- CN202084081U CN202084081U CN2011201284106U CN201120128410U CN202084081U CN 202084081 U CN202084081 U CN 202084081U CN 2011201284106 U CN2011201284106 U CN 2011201284106U CN 201120128410 U CN201120128410 U CN 201120128410U CN 202084081 U CN202084081 U CN 202084081U
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Abstract
The utility model discloses a moving object motion attitude sensing system, which is mainly designed in order to comprehensively and efficiently sense all the information of the motion attitudes of a moving object. The moving object motion attitude sensing system comprises an image acquisition module, an image resolution module and an attitude-resolving module; the image acquisition module comprises at least three image acquisition units which are arranged on the moving object and are not on the same straight line; the image resolution module comprises displacement resolvers, the number of which is equal to the number of the image acquisition units, and each displacement resolver respectively receives the corresponding image outputted by the image acquisition module, and works out optical flow information by comparing a plurality of frames of continuous images; and the attitude-resolving module analyzes and receives the optical flow information outputted by the image resolution module, and works out motion attitudes on the basis of effective optical flow information. Base on the structure, the moving object motion attitude sensing system can sense all the information of the motion attitudes of the moving object, and can provide more comprehensive and efficient motion attitude information for the monitoring and control of the flight attitudes of a plane, the measurement of surface topography, the monitoring of the motion attitudes of other like machine tool fixtures or tools and the like.
Description
Technical field
The utility model relates to optics, electronic information and aviation field, relates in particular to a kind of movable body athletic posture sensory perceptual system.
Background technology
Aircraft flight attitude is meant the degree of pitching in the aircraft flight process, lift-over and driftage, and the standard of weighing aircraft flight attitude is the aspect angle, comprising: the angle of pitch, roll angle and crab angle.For guaranteeing the aircraft normal flight, need measure and control aircraft flight attitude.
The aspect sensory perceptual system is the important component part of aspect control system, for the aspect closed-loop control provides feedback.In the prior art, aircraft uses equipment such as accelerometer, gyroscope, infrared horizon to carry out attitude measurement more.But for small-sized and micro-unmanned aircraft, above-mentioned technology still is difficult to satisfy its requirement of landing stage to overload-resistant, accuracy of measurement and Costco Wholesale aspect of taking off at present.
In addition, in the field that investigation and geodetic surveying etc. are taken pictures to ground, photo can't show the gradient on ground when taking over the ground downwards because of aircraft, its practical value of taking a picture is restricted, therefore just need the system of the supporting captured ground inclination of survey aircraft, the gradient on captured ground is measured.
Light stream is the instantaneous velocity of the pixel motion of space motion object on the observation imaging surface.The research of light stream is to utilize the time domain of the pixel intensity data in the image sequence to change and correlativity is determined " motion " of location of pixels separately, promptly study gradation of image in time variation and scene in the relation of object structures and motion thereof.Optical flow method can detect the motion object under the situation of any information of not knowing scene, and judges its motion conditions.
In recent years, optical flow approach has obtained some development and application.The example that is used for High Definition Systems as the optical flow analysis method, the little vision system of interference computing machine (ICMVS) of Massachusetts Institute of Technology (MIT), the optical flow analysis method is applied to detect the plane micromotion of each micro element in the micro-electromechanical system (MEMS), and the resolution of motion amplitude reaches as high as 2.5nm.In the unmanned plane field, optical flow approach is mainly used in evades obstacle and the miniature indoor unmanned plane of control low speed.Aspect perception of one dimension light stream information and the control system made of Switzerland Ecole Polytechnique Federale de Lausanne (EPFL) for example, but this system can not obtain the full detail of aspect, be pitching, lift-over, driftage angle and angular velocity, it can only obtain go off course angle and angular velocity, this system is mainly used in and keeps away barrier and navigation, is only applicable to the miniature indoor unmanned plane of low speed.
The utility model content
At the problems referred to above, the utility model purpose is to provide a kind of movable body athletic posture sensory perceptual system based on optical flow approach perceive motion body athletic posture full detail.
For achieving the above object, movable body athletic posture sensory perceptual system described in the utility model comprises: image capture module, image analysis module, attitude algorithm module, communication module and external equipment; Wherein,
Described image capture module, by at least three be arranged on the movable body and not the image acquisition device on same straight line constitute, be used for being kept in motion and gather down the reference plane image at movable body;
Described image analysis module, the displacement solver identical with described image acquisition device by quantity constitutes, each displacement solution is calculated the image that device receives the image capture module output corresponding with it respectively, and resolves algorithm based on displacement and calculate light stream information in the image by contrasting continuous some two field pictures;
Described attitude algorithm module is analyzed the light stream information that is received from described image analysis module output, and adopts the attitude algorithm algorithm to draw the athletic posture of movable body based on effective light stream information;
Described communication module is set up the signal transmission between described attitude algorithm module and the described external equipment.
Especially, described light stream information comprises the horizontal and vertical mobile message of image model in the image, and this mobile message is that the two-dimension displacement signal that the image of unit moves is explained with the pixel size of described image acquisition device output image.
Especially, described athletic posture comprises: the attitude angle of the relative reference plane of movable body and attitude angle angular velocity.
Further, described attitude algorithm module comprises: data screening device and attitude algorithm device, wherein,
Described data screening device, whether authentic and valid, the numbering of the described displacement solver of efficient 2-d displacement signal and this two-dimension displacement signal of output is passed to described attitude algorithm device if analyzing the two-dimension displacement signal be received from described image analysis module output;
Described attitude algorithm device receives the two-dimension displacement signal of data screening device output and the displacement solver numbering of each two-dimension displacement signal correspondence; Judge that the two-dimension displacement signal number that receives whether less than the required minimum number of attitude algorithm algorithm, is to send alerting signal to described communication module; Not, calculate attitude angle and the attitude angle angular velocity and the output of the relative reference plane of movable body based on the attitude algorithm algorithm.
Compared with prior art, the utlity model has following beneficial effect:
(1) the utility model proposes a kind of two-dimentional optical flow analysis method of practicality, realized resolving two interplanar angles in the three dimensions by two-dimentional light stream information, this method is more succinct efficient than conventional two-dimensional optical flow analysis method.Traditional two-dimentional optical flow approach need consider that also each pixel is so that any is the pattern of center divergence or convergence in the image in the image, this pattern represent single-sensor near or away from the situation of environment in the image (divergence for away from, convergence is close), and this pattern and aircraft flight attitude do not have direct correlation, thereby classic method is not paid close attention to aircraft flight attitude, pay close attention to more and keep away the barrier problem, thereby this has caused the complicated of algorithm.And two-dimentional optical flow analysis method described in the utility model is more at attitude measurement, and computation complexity reduces.
(2) no-movable part in the system described in the utility model has good anti-overloading performance, can bear the take off shock load of landing period of unmanned plane, and independently taking off to land for SUAV (small unmanned aerial vehicle) provides a kind of available attitude measurement method.And in the prior art, use equipment such as accelerometer, gyroscope, infrared horizon to carry out in the system of attitude measurement, accelerometer exists ultimate load, gyroscope is subject to disturb and destroys, and infrared horizon is subject to the interference of thermal source of vehicle, other aircraft, people or other animals etc. of runway both sides
(3) system described in the utility model has good real time performance and time independence because of the mode that adopts image acquisition device continuous acquisition image, measuring accuracy is not subjected to the influence of working time, and the angle of pitch, roll angle, rate of pitch, angular velocity in roll and yaw rate do not have cumulative errors in the signal of output.
(4) system described in the utility model has height, speed independence for common small-sized low latitude unmanned plane, and can be by its height of upgrading image acquisition device resolution extension, the speed scope of application.
Description of drawings
Fig. 1 is the workflow synoptic diagram of movable body athletic posture sensory perceptual system described in the utility model;
Fig. 2 is a movable body athletic posture sensory perceptual system structural representation described in the utility model;
Fig. 3 is the theoretical foundation figure of perceive motion body movement technique described in the utility model and system;
Fig. 4 is the structural representation that the utility model is equipped with the aircraft flight attitude sensory perceptual system of four image acquisition devices;
Fig. 5 is displacement solver described in the utility model and described data screening device principle of work synoptic diagram.
Embodiment
Below in conjunction with Figure of description the utility model is further described.
The utility model provides a kind of movable body athletic posture sensory perceptual system, is used to measure the movable body athletic posture so that the athletic posture of movable body is controlled.System described in the utility model can utilize in monitoring of the flight attitude of aircraft and control field, also can utilize in to the fields of measurement of face of land landform and other need monitor the field of movable body athletic posture.The utility model based on the signal of image acquisition device output, is determined the motion of image by the multichannel image collection, based on the motion of image, determines the flight attitude of movable body such as aircraft.
As shown in Figure 1, the workflow diagram of movable body athletic posture sensory perceptual system described in the utility model may further comprise the steps:
S1, the continuous capturing movable body image that reference plane was under motion state;
S2, calculate light stream information in the image based on the consecutive image that captures;
S3, draw the athletic posture of movable body based on the light stream information that calculates.
As the further embodiment of method described in the utility model, method described in the utility model also comprises:
S4, the athletic posture that obtains is outputed to external equipment,, for example control aircraft flight attitude so that other external equipments receive described athletic posture data, and make corresponding response according to these data.
Wherein, above-mentioned step S2 is implemented as follows:
The image of S201, the continuous some frames of contrast draws comparing result;
S202, adopt displacement to resolve algorithm based on comparing result from image, to calculate light stream information.
Above-mentioned step S3 is implemented as follows:
Whether the light stream information that S301, analytical solution are calculated is authentic and valid, is to proceed next step; , do not abandon invalid light stream information;
S302, judge that effective light stream information number whether less than the required minimum number 3 of attitude algorithm algorithm, is to send alerting signal; , do not adopt the attitude algorithm algorithm computation to go out the athletic posture of movable body based on effective light stream information.
Wherein, whether authentic and valid foundation is to analyze light stream information: if do not comprise identical terrestrial information in the two continuous frames image, then the displacement solver can't provide correct displacement signal, and output valve is the maximal value of displacement, and think promptly that this displacement signal is invalid this moment.
Above-mentioned light stream information comprises the horizontal and vertical mobile message of image model in the image, and this mobile message is that the two-dimension displacement signal that the image of unit moves is explained with the pixel size of described image acquisition device output image.Wherein, described image model can be determined by any characteristics of image such as brightness, brightness step, color, color gradient.
Above-mentioned described athletic posture comprises: the attitude angle of the relative reference plane of movable body and attitude angle angular velocity.
As shown in Figure 2, movable body athletic posture sensory perceptual system described in the utility model comprises: image capture module 1, image analysis module 2, attitude algorithm module 3, communication module 4 and external equipment 5; Wherein,
Described image capture module 1, by at least three be arranged on the movable body and not the image acquisition device on same straight line constitute, be used for being kept in motion and gather down the reference plane image at movable body;
Described image analysis module 2, the displacement solver identical with described image acquisition device by quantity constitutes, each displacement solution is calculated the image that device receives the image capture module output corresponding with it respectively, and resolves algorithm based on displacement and calculate light stream information in the image by contrasting continuous some two field pictures;
Described attitude algorithm module 3 is analyzed the light stream information that is received from described image analysis module 2 outputs, and adopts the attitude algorithm algorithm to draw the athletic posture of movable body based on effective light stream information;
Described communication module 4 is set up the signal transmission between described attitude algorithm module 2 and the described external equipment 5.
In actual applications, above-mentioned light stream information comprises the horizontal and vertical mobile message of image model in the image, and this mobile message is that the two-dimension displacement signal that the image of unit moves is explained with the pixel size of described image acquisition device output image.In addition, described image capture module can be made up of minimum 3 image acquisition devices, wherein, be at least 3 be because when resolving attitude 3 be required minimum number.Preferably, described image acquisition device is provided with 4, and algorithm is comparatively simple and than 3 image acquisition devices more reliable (one lost efficacy in addition other three can also work on) when resolving attitude like this.Wherein, each image acquisition device in the described image capture module is arranged on the fuselage of aircraft, then needs to know each image acquisition device particular location in the fuselage reference frame and direction respectively.
The athletic posture of the movable body that the attitude algorithm module 3 described in the system described in the utility model draws comprises: the attitude angle of the relative reference plane of movable body and attitude angle angular velocity.
As the embodiment further of system described in the utility model, described attitude algorithm module 3 comprises: data screening device 301 and attitude algorithm device 302, wherein,
Described data screening device 301, whether analysis is received from the two-dimension displacement signal of described image analysis module 2 outputs authentic and valid, and the numbering of the described displacement solver of efficient 2-d displacement signal and this two-dimension displacement signal of output is passed to described attitude algorithm device 302;
Described attitude algorithm device 302 receives the two-dimension displacement signal of data screening device 301 outputs and the displacement solver numbering of each two-dimension displacement signal correspondence; Judge that the two-dimension displacement signal number that receives whether less than the required minimum number of attitude algorithm algorithm, is to send alerting signal to described communication module; Not, calculate attitude angle and the attitude angle angular velocity and the output of the relative reference plane of movable body based on the attitude algorithm algorithm.
Wherein, described data screening device is analyzed light stream information, and whether authentic and valid foundation is: if do not comprise identical terrestrial information in the two continuous frames image, then the displacement solver can't provide correct displacement signal, output valve is the maximal value of displacement, and this moment, the data screening device thought that promptly this displacement signal is that invalid refusal transmits it in the described attitude algorithm device.
In a specific embodiment, the communication module described in the system described in the utility model: be used for the motion attitude angle and the motion attitude angle angular velocity of the movable body of described attitude algorithm device 3 outputs are transferred to external equipment 5, as airborne attitude control device etc.; And will be received from the alerting signal that data screening device 302 transmits and send to external equipment, for example alarm or display etc.
External equipment described in the utility model includes but not limited to flight data recorder, airborne computer, airborne control bus, airborne attitude control device, radio signal launcher etc.When this system was used for relative attitude between two general plane of movement and measures, external equipment had bigger diversity.
Image acquisition device described in the utility model is the optical imaging apparatus of any visible lights such as video camera, camera or photosensitive array and non-visible light wave band.Described image acquisition device can passive reception light source or use active light source when catching image.Described movable body can be removable cutter on aircraft, boats and ships, the lathe or the movable anchor clamps on the lathe etc.
Reference plane described in the utility model can be ground, metope or other fixed surfaces.
Below in conjunction with the embodiment of the perception of aircraft flight attitude the principle of work of system described in the utility model is further described.
As shown in Figure 3, preceding image acquisition device 102 is installed in aircraft prow below, and back image acquisition device 104 is installed in aircraft tail below, and left image acquisition device 103 is installed in wing below, aircraft left side, and right image acquisition device 101 is installed in wing below, aircraft right side.Four image acquisition devices 101,102,103 and 104 are in the same plane, and each image acquisition device 101,102,103 is all vertical with plane, image acquisition device place with 104 pick-up lens sensing, points to the aircraft below.Four image acquisition devices 101,102,103 and 104 ground (the being reference plane) images of gathering respectively under the flight status output to four displacements that link to each other with each image acquisition device respectively respectively with data image signal and resolve in the module.The data image signal that module receives four image acquisition device outputs is respectively resolved in four displacements, resolves and obtains four continuous two-dimension displacement signals, and respectively four continuous two-dimension displacement signals are outputed to the data screening device.The data screening device receives the two-dimension displacement signal, and effective displacement signal and corresponding displacement solver numbering thereof are delivered to the attitude algorithm device.The attitude algorithm device receives two-dimension displacement signal and corresponding displacement solver numbering thereof, if the effective two-dimension displacement signal number that receives is less than the required minimum number of attitude algorithm algorithm, then produce alerting signal and alerting signal is transferred to external equipment by communication module, if effective two-dimension displacement signal number of receiving can satisfy the attitude algorithm algorithm required resolve number, then calculate aircraft flight attitude, and aircraft flight attitude is outputed to external equipment through communication module based on the attitude algorithm algorithm.
Here provide the example under three kinds of operating modes embodiment illustrated in fig. 3:
Example one, when aircraft flies with the constant speed along continuous straight runs, if ground level, then when aircraft lift-over left, aircraft left wing sinks, left side image acquisition device 103 highly reduces, and displacement increases between every adjacent two two field pictures that left image acquisition device 103 is gathered, and each displacement signal of left dislocation solver output increases; The aircraft right flank raises up, and right image acquisition device 101 highly raises, and displacement reduces between every adjacent two two field pictures that right image acquisition device 101 is gathered, and each two-dimension displacement signal of right displacement solver output reduces.The attitude algorithm device receives the continuous two-dimension displacement signal of left and right displacement solver output by the data screening device, resolves to such an extent that the angle of aircraft lift-over left is a roll angle.Contrast continuous several roll angle data and promptly get angular velocity in roll.
Example two, when aircraft flies with the constant speed along continuous straight runs, if ground level, then when aircraft upwards comes back, preceding image acquisition device 102 highly raises, displacement increases between every adjacent two two field pictures that preceding image acquisition device 102 is gathered, and preceding displacement solution is calculated each two-dimension displacement signal increase of device output; The aircraft tail-down, back image acquisition device 104 highly raises, and displacement reduces between every adjacent two two field pictures that back image acquisition device 104 is gathered, and each displacement signal of back displacement solver output reduces.The attitude algorithm device receives the continuous two-dimension displacement signal of displacement solver output by the data screening device, resolves to such an extent that the angle that upwards comes back of aircraft is the angle of pitch.Contrast continuous several pitch angle data and promptly get rate of pitch.
Example three is when aircraft flies with the constant speed along continuous straight runs, if ground level, then when aircraft during to left drift, aircraft left wing speed descends, and displacement reduces between every adjacent two two field pictures that left image acquisition device 103 is gathered, and each displacement signal of left dislocation solver output reduces; Aircraft right flank speed rises, and displacement increases between every adjacent two two field pictures that right image acquisition device 101 is gathered, and each two-dimension displacement signal of right displacement solver output increases.The attitude algorithm device is accepted the continuous two-dimension displacement signal that the left and right displacement solver is exported by the data screening device, resolves to such an extent that aircraft is a yaw rate to the angular velocity of left drift.Can get crab angle by integration to yaw rate.
Know that by above three examples this system can accurately obtain the angle of pitch, roll angle, rate of pitch, angular velocity in roll, the yaw rate of aircraft flight attitude, and there is cumulative errors in crab angle, its cumulative errors size is determined by integral accuracy.
The theoretical foundation of movable body attitude sensing system described in the utility model, as shown in Figure 4.Being can clearer statement, below in conjunction with the aircraft example that aloft flies this figure is described.As shown in the figure, aircraft is in flight course, on the aircraft on the 1: 601 relative ground 1: 602 speed be 603, on being consolidated in aircraft in point 601 the reference frame, point 602 is with speed 604 motions on the ground, speed 604 with aircraft on the speed that is projected as 605 on the vertical direction of point 602 line on point 601 and the ground, speed 605 correspondences on the ground point 602 at the fixed angular velocity of seeing in the image acquisition device at 601 places 606 of putting aboard.Obviously, angular velocity 606 can by aircraft horizontal velocity, vertical speed, flying height, the angle of pitch, roll angle and crab angle totally 6 argument tables illustrate.To each is consolidated in the image acquisition device of the point of similarity 601 on the aircraft, can set up respectively along aircraft flight direction and left and right directions totally 2 equations.When image acquisition device quantity reaches 3 and not during conllinear, equation quantity is identical with the unknown number number, though independent between equation, but but still cancellation height and speed in the hope of current time roll angle, crab angle, rate of pitch, angular velocity in roll and yaw rate.Utilize yaw rate also integrable get the crab angle reference value.Be example with four image acquisition devices below, the group that establishes an equation is as follows:
1, get three coordinate systems (being right hand rectangular coordinate system):
Body axis system b:x axle and fuselage dead in line, the y axle points to starboard wing, and the z axle is perpendicular to fuselage-wingpiston directed downwards.
Coordinate system 2:x axle and coordinate system b overlap, and the y axle points to horizontal direction.
Coordinate system 1:y axle and coordinate system 2 overlap, and the x axle points to horizontal direction.
2, set up coordinate conversion matrix:
The angle of pitch is θ, and roll angle is φ.
R12: be transformed into coordinate system 1 from coordinate system 2
R2b: be transformed into coordinate system 2 from coordinate system b
3, vector conversion:
Aircraft angular velocity and speed are decomposed in body axis system rb: V
b=[U V W], ω
b=[P Q R], represent the direction vector that four image acquisition devices point to:
Image acquisition device 1:
y
1b=[0 1 0]
Image acquisition device 2:
y
2b=[0 1 0]
Image acquisition device 3:
x
3b=[1 0 0]
Image acquisition device 4:
x
4b=[1 0 0] y
4b=[0 1 1]
With the coordinate conversion of above-mentioned each image acquisition device in earth axes:
V
1＝R
12R
2bV
b ω
1＝R
12R
2bω
b r
i1＝R
12R
2br
ib
4, optical flow computation:
If aircraft altitude is h, radius vector is that the speed of the relative aircraft of point of r is on the ground:
V＝V
1b+ω
1×r
Each image acquisition device apart from the ground radius vector is
Obtaining the light stream value is
5, light stream is decomposed:
X
i＝<L
i，x
i> Y
i＝<L
i，y
i>
The principle of work of solver of displacement described in the utility model and data screening device is specially:
Observe two images among Fig. 5 and relatively about be coated with black region among two figure, be coated with black region in can discovery figure to be moved to the left 3 grid, the relative image acquisition device of object in this explanation visual field to left movement the visual angle of 3 grid correspondences.By the pattern in the continuous image that obtains of recognition image collector, the situation that move relative to image acquisition device on the ground in the identification visual field in the time interval between known again shooting two continuous frames image, can determine that then the visual angle movement velocity on ground in the visual field is an angular velocity.Owing to during the image acquisition device images acquired image has been carried out dispersing as Fig. 5, so the displacement solver resolves the sampling density decision of the maximal accuracy of displacement by image acquisition device, and the precision of displacement solver output displacement has determined the maximal accuracy of attitude algorithm, so the maximal accuracy of native system is that the resolution of images acquired determines by the sampling density of image acquisition device.Obviously, when the ground movement speed in the visual field is excessive, may not comprise identical terrestrial information in the two continuous frames image, then the displacement solver can't provide correct displacement signal, output valve is the maximal value of displacement, and the data screening device thinks that promptly this displacement signal is invalid and refusal is delivered to the attitude algorithm device with it.
Obviously, system described in the utility model also can be directly used in the measurement of attitude relation mutually between any two plane of movement.For the occasion of illumination deficiency, can cooperate secondary light source to use.
More than; it only is preferred embodiment of the present utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; the variation that can expect easily or replacement all should be encompassed within the protection domain of the present utility model.Therefore, protection domain of the present utility model should be as the criterion with the protection domain that claim was defined.
Claims (2)
1. a movable body athletic posture sensory perceptual system is characterized in that, comprising: image capture module, image analysis module, attitude algorithm module, communication module and external equipment; Wherein,
Described image capture module, by at least three be arranged on the movable body and not the image acquisition device on same straight line constitute, be used for being kept in motion and gather down the reference plane image at movable body;
Described image analysis module, the displacement solver identical with described image acquisition device by quantity constitutes, each displacement solution is calculated the image that device receives the image capture module output corresponding with it respectively, and resolves algorithm based on displacement and calculate light stream information in the image by contrasting continuous some two field pictures;
Described attitude algorithm module is analyzed the light stream information that is received from described image analysis module output, and adopts the attitude algorithm algorithm to draw the athletic posture of movable body based on effective light stream information;
Described communication module is set up the signal transmission between described attitude algorithm module and the described external equipment.
2. according to the described movable body athletic posture of claim 1 sensory perceptual system, it is characterized in that described attitude algorithm module comprises: data screening device and attitude algorithm device, wherein,
Described data screening device, whether authentic and valid, the numbering of the described displacement solver of efficient 2-d displacement signal and this two-dimension displacement signal of output is passed to described attitude algorithm device if analyzing the two-dimension displacement signal be received from described image analysis module output;
Described attitude algorithm device receives the two-dimension displacement signal of data screening device output and the displacement solver numbering of each two-dimension displacement signal correspondence; Judge that the two-dimension displacement signal number that receives whether less than the required minimum number of attitude algorithm algorithm, is to send alerting signal to described communication module; Not, calculate attitude angle and the attitude angle angular velocity and the output of the relative reference plane of movable body based on the attitude algorithm algorithm.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102654917A (en) * | 2011-04-27 | 2012-09-05 | 清华大学 | Method and system for sensing motion gestures of moving body |
| CN112504464A (en) * | 2020-10-29 | 2021-03-16 | 北京控制工程研究所 | Image feature point fusion method for three-probe infrared imaging system |
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2011
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102654917A (en) * | 2011-04-27 | 2012-09-05 | 清华大学 | Method and system for sensing motion gestures of moving body |
| CN102654917B (en) * | 2011-04-27 | 2014-11-26 | 清华大学 | Method and system for sensing motion gestures of moving body |
| CN112504464A (en) * | 2020-10-29 | 2021-03-16 | 北京控制工程研究所 | Image feature point fusion method for three-probe infrared imaging system |
| CN112504464B (en) * | 2020-10-29 | 2022-02-01 | 北京控制工程研究所 | Image feature point fusion method for three-probe infrared imaging system |
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