Three-dimensional environment modeling method and system for unmanned plane

A modeling method and UAV technology, applied in the field of UAV 3D environment modeling methods and systems, can solve problems such as inability to model a single-lens 3D environment, improve the ability to resist motion blur, and improve accuracy and robustness, the effect of reducing the false matching rate

Active Publication Date: 2015-09-09
深圳市易恬技术有限公司
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Problems solved by technology

[0003] In view of this, the purpose of the embodiments of the present invention is to provide a 3D environment modeling method and system for UAVs, aiming to solve the problem in the prior art that it is impossible to use a single lens to perform real-time 3D environment modeling on UAVs

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  • Three-dimensional environment modeling method and system for unmanned plane

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[0063] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. Three-dimensional environment modeling method and system of UAV

[0064] The specific embodiment of the present invention provides a method for modeling a three-dimensional environment of a drone, which mainly includes the following steps:

[0065] S11. Obtain point features and line features on the key frame image, and divide the texture area;

[0066] S12. Select the frame closest to the key frame as the target key frame, find matching points and lines in the target key frame, use epipolar geometric triangulation to obtain 3D points and lines, and combine texture regions to complete surface fea...

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Abstract

The invention is suitable for unmanned planes, and provides a three-dimensional environment modeling method for an unmanned plane. The method comprises the steps: obtaining the point features and line features of key image frames, and carrying out the division of a pattern region; selecting one frame closest to the key image frames as the target key frame, searching a matching point and line in the target key frame, employing an epipolar geometry triangle to obtain 3D points and lines, and completing the generation and updating of face features through combination with the pattern region; enabling the obtained multilayer features to be effectively combined in a three-dimensional space, wherein the multilayer features comprise the point features, line features and face features; and employing dual quaterion to achieve the unified description of the multilayer features. The invention also provides a three-dimensional environment modeling system for the unmanned plane. The method and system can further provide basic research results for the research and development of novel dedicated dual quaterion resolving hardware, can improve the optimization speed, also can reduce the wrong matching rate, and improve the precision and robustness of a map.

Description

Technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a three-dimensional environment modeling method and system for unmanned aerial vehicles. Background technique [0002] How the robot realizes real-time localization and map construction (Simultaneous Localization And Mapping, SLAM) in an unknown location in the location environment is a prerequisite for realizing tasks such as autonomous navigation, path planning, target recognition and tracking of the robot. The three-dimensional model reconstructed by different sensors has been applied to many fields such as machine navigation, enhancement realization, medical image processing and so on. However, how to use a single lens to perform real-time 3D environment modeling on the UAV, and then realize its autonomous control is a difficult point in current research. Summary of the invention [0003] In view of this, the purpose of the embodiments of the present invention is to provide...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T17/05
Inventor 蒙山陈桂芳
Owner 深圳市易恬技术有限公司
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