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A UAV reconnaissance method based on real-time online map generation

A map generation and UAV technology, applied in the field of UAV reconnaissance, can solve problems such as difficulties in the realization of visual SLAM system engineering

Active Publication Date: 2019-09-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although many theoretical achievements have been made through the efforts of many scholars, there have always been many difficulties in the engineering realization of visual SLAM systems.

Method used

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  • A UAV reconnaissance method based on real-time online map generation
  • A UAV reconnaissance method based on real-time online map generation
  • A UAV reconnaissance method based on real-time online map generation

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Embodiment Construction

[0053] The embodiments of the present invention are described in detail below. The embodiments are exemplary and are intended to explain the present invention, but should not be understood as a limitation to the present invention.

[0054] In this embodiment, the real-time online map generation is based on the comparison of images to generate difference videos, mark dangers on the reference map according to the difference videos, and generate reports.

[0055] It includes the following steps:

[0056] Step 1: The drone flies in the area to be inspected according to the set route, shoots standard video, and extracts standard video key frames:

[0057] The first frame of the standard video is set as the key frame, and the homography matrix H of the first frame of the standard video is the unit matrix;

[0058] For the current frame of standard video, calculate the homography matrix H from the current frame to the current key frame through the following steps, and determine whether to upda...

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PUM

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Abstract

The invention proposes a UAV reconnaissance method based on real-time online map generation. First, the UAV flies according to the set route in the area to be reconnaissance, shoots standard video, and extracts standard video key frames: and according to the standard video, according to the real-time online map The generation method is to generate a global map from the image sequence of the standard video; then the UAV conducts reconnaissance flights according to the set route in the area to be reconnaissance, shoots new videos, and automatically compares and analyzes the geographical location at different times on the basis of realizing real-time online map reconstruction. Information changes, generating a warning message on the map. The invention can be used for border patrol and reconnaissance, coastline and river bank patrol and reconnaissance, oil pipeline patrol and so on, and can also be used for real-time emergency surveying and mapping, and has wide applications in sudden geological disasters, forest fires, traffic command and the like.

Description

Technical field [0001] The invention relates to the field of computer image processing and map surveying and mapping, in particular to a drone reconnaissance method based on real-time online map generation. On the basis of real-time online map generation based on the drone, it automatically compares and analyzes geography, scenes, and scenes at different times. Changes in key targets and other information at different times, and automatically generate warning messages on the map. Background technique [0002] Traditional techniques and methods use manual patrols, or use aircraft (including drones) to shoot video images, and then complete manual interpretation. Manual patrols are inefficient and require a lot of manpower and material resources. At present, aircraft are commonly used to carry out high-altitude video images or photographs. This requires special personnel to observe and interpret the video images or photos. Manual interpretation of these data will inevitably lead to ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06K9/46G06K9/62
CPCG06V20/40G06V10/462G06F18/23213
Inventor 布树辉杨君赵勇
Owner NORTHWESTERN POLYTECHNICAL UNIV