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Hierarchical matching strategy-based improved unmanned aerial vehicle three-dimensional information acquisition method

A technology of 3D information and acquisition method, which is applied in the field of improving the 3D information acquisition of drones, can solve the problems of high cost, poor portability, and tediousness, and achieve the effect of increasing the running speed, improving the matching success rate, and accurately matching the 3D positioning

Active Publication Date: 2017-03-29
STATE GRID INTELLIGENCE TECH CO LTD
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Problems solved by technology

The positioning accuracy of the motion capture system is high, but its cost is relatively expensive and its portability is poor. More importantly, the system needs to install marking points on the target. When changing the positioning target, it is necessary to install the corresponding marking points, which is relatively cumbersome

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  • Hierarchical matching strategy-based improved unmanned aerial vehicle three-dimensional information acquisition method
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  • Hierarchical matching strategy-based improved unmanned aerial vehicle three-dimensional information acquisition method

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Embodiment Construction

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] The present invention proposes an effective method: using binocular vision technology, combined with the background situation of the hovering state of the UAV, an improved UAV three-dimensional information acquisition technology based on a hierarchical matching strategy is proposed to realize the detection and tracking of the UAV , precise matching and three-dimensional positioning, the system composition is as follows figure 1 .

[0040] In order to obtain the real-time position information of UAVs in three-dimensional space, the present invention designs a set of measurable UAVs by using the principle of binocular stereo vision parallax and combining the improved algorithm based on neighborhood gray scale from coarse to fine. A system for real-time 3D position. First, the video image is corrected by combining the binocular camera calibration;...

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Abstract

The invention discloses a hierarchical matching strategy-based improved unmanned aerial vehicle three-dimensional information acquisition method. The method includes the following steps that: video images are corrected with binocular camera calibration; under epipolar constraints, matching is performed in the right-vision image through using a neighborhood gray scale-based template matching algorithm, so that a target region is determined; after a left target region and a right target region are obtained, a contour image and key feature points are extracted, exact matching is performed on candidate matching points based on gray-related dense exact matching; and target three-dimensional information is calculated according to the parallax value of target key feature points obtained after the exact matching, and a binocular camera geometric model. With the method of the invention adopted, the detection, tracking, accurate matching and three-dimensional positioning of an unmanned aerial vehicle can be realized.

Description

technical field [0001] The invention relates to an improved unmanned aerial vehicle three-dimensional information acquisition method based on a hierarchical matching strategy. Background technique [0002] In terms of military and commercial use, the autonomous flight of rotor UAVs has always been a research hotspot, and there are more and more application fields. Accurate positioning of rotor UAVs is the prerequisite for various complex tasks such as obstacle avoidance, path planning, and grasping. At present, there are two methods of UAV three-dimensional space positioning technology widely used: one is that the UAV obtains accurate location information through the equipment carried by the UAV, such as GPS, inertial navigation, and simultaneous positioning and mapping (SLAM); It is to provide accurate location information with the help of external equipment, such as global satellite positioning system and motion capture system. A motion capture system has high-resolution...

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Application Information

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IPC IPC(8): G06K9/32G06K9/62G06K9/00G01C21/20G06T7/80
CPCG01C21/20G06V20/653G06V10/255G06V10/752
Inventor 董保磊王万国刘俍苏建军慕世友任志刚杨波李超英傅孟潮李宗谕魏传虎李建祥赵金龙
Owner STATE GRID INTELLIGENCE TECH CO LTD
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