2results about How to "Add constraints" patented technology

The application provides a kind of unmanned aerial vehicle-oriented visual / laser ranging high-altitude navigation method, comprising: visual triangulation solving three-dimensional map point depth, scale initial value is solved using timestamp synchronized laser ranging data;Construct visual re-projection error and laser ranging error joint optimization function;Establish a new graph optimization model, define node, edge and error Jacobian matrix, and obtain optimization parameters by iteration;Finally, according to the optimization parameter update whole visual tracking thread, complete scale update and pose update, obtain accurate positioning of unmanned aerial vehicle.The technical problem of the application scheme is to solve the technical problem of high-altitude unmanned aerial vehicle scene, monocular camera exists scale deviation, and it is difficult to realize high-precision navigation positioning and depth estimation.

This utility model belongs to the field of building structure reinforcement technology, specifically an ECC building structure reinforcement connector, including a first crossbeam; a second crossbeam overlaps the middle of the side wall of the first crossbeam; both the first and second crossbeams are provided with connecting components in the middle of their side walls, which can strengthen the connection between the first and second crossbeams; by setting a first pipe clamp, a first short screw, a second pipe clamp, a second short screw, a connecting plate, and a long screw, the two crossbeams can be firmly connected together to form a whole. This connection method can improve the connection strength between the crossbeams, enabling the structure to work better together when bearing loads, reducing the risk of damage caused by excessive local stress, and strengthening the overlap relationship of the crossbeams is equivalent to increasing the constraint conditions of the structure, making the structure more stable under stress, helping to reduce structural deformation, improve the overall stiffness of the structure, and thus enhance the load-bearing capacity of the structure.